EP3720142A1 - Operation switch unit, remote operation terminal, and operation system - Google Patents
Operation switch unit, remote operation terminal, and operation system Download PDFInfo
- Publication number
- EP3720142A1 EP3720142A1 EP18882988.1A EP18882988A EP3720142A1 EP 3720142 A1 EP3720142 A1 EP 3720142A1 EP 18882988 A EP18882988 A EP 18882988A EP 3720142 A1 EP3720142 A1 EP 3720142A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- emergency stop
- switch unit
- operation switch
- contact
- state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 17
- 230000005856 abnormality Effects 0.000 claims description 2
- 230000006854 communication Effects 0.000 description 17
- 238000004891 communication Methods 0.000 description 17
- 230000033001 locomotion Effects 0.000 description 16
- 230000006835 compression Effects 0.000 description 12
- 238000007906 compression Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 11
- 230000003247 decreasing effect Effects 0.000 description 9
- 210000000707 wrist Anatomy 0.000 description 8
- 230000001771 impaired effect Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 6
- 230000002708 enhancing effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000000994 depressogenic effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000012447 hatching Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005401 electroluminescence Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/22—Power arrangements internal to the switch for operating the driving mechanism
- H01H3/28—Power arrangements internal to the switch for operating the driving mechanism using electromagnet
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H1/00—Contacts
- H01H1/50—Means for increasing contact pressure, preventing vibration of contacts, holding contacts together after engagement, or biasing contacts to the open position
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H13/00—Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch
- H01H13/02—Details
- H01H13/12—Movable parts; Contacts mounted thereon
- H01H13/20—Driving mechanisms
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
- H01H3/022—Emergency operating parts, e.g. for stop-switch in dangerous conditions
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
- H01H3/12—Push-buttons
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/32—Driving mechanisms, i.e. for transmitting driving force to the contacts
- H01H3/38—Driving mechanisms, i.e. for transmitting driving force to the contacts using spring or other flexible shaft coupling
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H1/00—Contacts
- H01H1/12—Contacts characterised by the manner in which co-operating contacts engage
- H01H1/14—Contacts characterised by the manner in which co-operating contacts engage by abutting
- H01H1/20—Bridging contacts
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H1/00—Contacts
- H01H1/50—Means for increasing contact pressure, preventing vibration of contacts, holding contacts together after engagement, or biasing contacts to the open position
- H01H2001/508—Means for increasing contact pressure, preventing vibration of contacts, holding contacts together after engagement, or biasing contacts to the open position with mechanical means to prevent return/reverse movement of movable contact once opening or closing cycle has started
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
- H01H3/022—Emergency operating parts, e.g. for stop-switch in dangerous conditions
- H01H2003/024—Resetting of bistable emergency operating part by pulling it
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H2221/00—Actuators
- H01H2221/008—Actuators other then push button
- H01H2221/022—Actuators other then push button electromagnetic
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H9/00—Details of switching devices, not covered by groups H01H1/00 - H01H7/00
- H01H9/0066—Auxiliary contact devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2213/00—Indexing scheme relating to selecting arrangements in general and for multiplex systems
- H04Q2213/003—Constructional details
Definitions
- the present invention relates generally to an operation switch unit, a remote operation terminal and an operation system that have an improved operability and safety.
- the apparatus shown in the above JP publication includes a push switch (63) to switch an operation state of a device (20) manually and a controller (1) that has a cylinder (42) to operate the push switch (63) in accordance with a control signal from a control indication unit (30) and a push button (73) contacted by the cylinder (42) .
- the cylinder (42) is provided in a cover (9) disposed in front of the push switch (63).
- the user must depress the rear portion of the cylinder (42), the rear portion being quite small compared to a front face of the push switch (63), which also indicates that operability is deteriorated at the time of manual operation of the push switch (63).
- WO 2016/181734 pamphlet shows an emergency stop terminal (200) as a wireless operation terminal that includes a first communication portion (221) which performs a wireless communication between an emergency stop button (210) and a controller (100) to perform a motion control of a stacker crane (30) (see para. [0010] and figure 1 ) .
- the pamphlet describes that at the time of normal operation, the communication portion (221) and the controller (100) are in the state of communication at all times, and when the emergency stop button (210) is depressed, the state of wireless communication between the first communication portion (221) and the controller (100) of the stacker crane (30) is altered, such that thereby the controller (100) breaks a power circuit of the stacker crane (30) to stop the stacker crane (30) (seeparas. [0010], [0016], [0068]-[0070], [0073], [0121]-[0123] and figures 2 , 3 ).
- Japanese patent application publication No. 2016-502248 describes a control system that includes a fixed-type emergency stop button and a portable emergency stop button.
- the fixed-type emergency stop button is a wired type that directly acts upon an electric circuit and the portable emergency stop button has a wireless transmitter that communicates with a wireless receiver which controls the same electric circuit (see paras. [0015]-[0017]).
- the emergency stop terminal and the portable emergency stop button are structured in such a way as to directly break/control the power circuit/electric circuit of the apparatus wirelessly during operation. Therefore, such a break circuit/control circuit needs to be preinstalled into the circuit of the apparatus, thus making the system complicated.
- Such a complication of the system results in an increase of a failure rate, which leads to a harmful influence to construction of a safety system.
- the break circuit/control circuit is directly controlled by radio, the system is made more complicated due to a bidirectional communication, duplication and the like.
- an emergency stop switch generally includes a push button (or operation switch) operable by an operator, an operation axis slidable by pressing operation of the push button, and contacts to be turned on/off according to a movement of the operation axis (see figure 1 of Japanese patent application publication No. 2001-35302 ).
- the movement of the operation axis causes the contacts to be turned off to break the electric circuit of the apparatus, thus making the apparatus stop emergently.
- the present invention is an operation switch unit.
- the operation switch unit may include a direct operation part that has a manually operable operation switch and that is adapted to directly operate the operation switch, and an alternative operation part that is adapted to be linked with the direct operation part and that alternatively operates the operation switch in place of the direct operation part.
- the operation switch is directly operated by the direct operation part and alternatively operated by the alternative operation part.
- the operation switch can be operated by both direct operation and alternative operation, thus improving operability and safety.
- the operation switch may be an emergency stop switch.
- the alternative operation part In the state of linkage with the direct operation part, the alternative operation part does not impair any requirement that is required for the emergency stop switch. Thereby, even in the state that the alternative operation part is linked to the direct operation part, the operation switch can perform an original emergency stop function as an emergency stop switch.
- the alternative operation part may include a detection part that detects a remote operation of the operation switch and an actuating portion that actuates the operation switch on the basis of the remote operation detected by the detection part.
- the operation switch is alternatively operated to be actuated by the actuating portion based on the remote control.
- the operation switch can be operated from a distance (that is, operation support can be achieved), thus further improving operability and safety.
- the actuating portion may be provided at a position that is not a manual operation surface of the operation switch. Thereby, when the operation switch is directly operated by the direct operation part, the alternative operation part does not hinder the direct operation and operability is not impaired.
- a reset of the operation switch after actuation by the actuating portion may be performed by an operator's manually operation of the operation switch.
- the operation switch may be a switch adapted to open a first contact and a second contact that are in the state of contact.
- the operation switch may further comprise an opening biasing means to bias the first contact and the second contact to an opening direction. In this case, since the first contact and the second contact of the operation switch are biased to the opening direction by the opening biasing means, the first contact and the second contact can be put in an opening sate even if the operation switch is damaged, thereby further enhancing safety.
- the opening biasing means may maintain the opening state of the first contact and the second contact by biasing the first contact and the second contact to the opening direction even in the case that abnormality such that the first contact and the second contact return to the state of contact has occurred. By so doing, the first contact and the second contact can be put in an opening sate even if the operation switch is damaged, thereby further enhancing safety.
- a biasing force of the opening biasing means may be applied to an actuating portion in an operative direction to actuate the operation switch, such that thereby a load can be reduced when the actuating portion actuates the operation switch thus lowering an output of the actuating portion to decrease a cost.
- a biasing force of the opening biasing means may be applied to the operation switch in an operative direction, such that thereby when the first contact and the second contact are caused to be opened by operation of the operation switch the biasing force of the opening biasing means is applied in the same direction as the operative direction of the operation switch. As a result, the first contact and the second contact can be opened more securely.
- a biasing force of the opening biasing means after operation of the operation switch may be smaller than a biasing force of the opening biasing means before operation of the operation switch.
- the operation switch unit may further comprise an operation axis to move in conjunction with operation of the operation switch.
- the opening biasing means may be formed of a spring that has one end connected to the side of the operation axis and adapted to move along with the operation axis and that has the other end connected to the side of a housing of the operation switch unit. In this case, a biasing force by the opening biasing means acts between the housing and the operation axis, such that thereby the first contact and the second contact are biased in the opening direction.
- the operation switch may be an emergency stop switch.
- the present invention is a remote operation terminal for operating a manually operable operation switch remotely.
- the remote operation terminal may comprise an operation element operated by an operator and a remote operation means for operating the operation switch remotely by the operator's operation of the operation element.
- the operation switch when the operator operates the operation element, the operation switch is operated remotely by the remote operation means.
- the remote operation means does not directly control a power circuit or an electric circuit of an apparatus but indirectly controls the apparatus through the operation switch by acting onto the operation switch of the apparatus to operate the operation switch.
- a switch such as an emergency stop switch, a stop switch or the like as an operation switch is normally fitted to the apparatus externally.
- the operation switch may be an emergency stop switch and the operation element may be a button.
- the operation element may include a locking mechanism to be locked in the state of operation.
- the remote operation means maybe a transmission part to transmit an operation signal for operating the operation switch wirelessly.
- the present invention is an operation system.
- the operation system may comprise a manually operable operation switch, a remote operation means for operating the operation switch remotely, a detection part that detects the remote operation by the remote operation means, and an actuating portion that actuates the operation switch on the basis of the remote operation detected by the detection part.
- the detection part detects the remote operation by the remote operation means and then actuating portion actuates the operation switch on the basis of the remote operation detected by the detection part.
- the operation can be performed at a place away from the operation switch thus improving operability and safety.
- the operation system may further comprise an opening biasing means to bias a contact of the operation switch to an opening direction. Thereby, even in the event that the switch has been damaged, the contact can be put at an open state thus further improving safety.
- the remote operation means maybe a transmission part to transmit an operation signal for operating the operation switch wirelessly and the detection part may be a reception part to receive the operation signal from the transmission part.
- a reset of the operation switch after actuation by the actuating portion may be performed by an operator's manually operation of the operation switch.
- the operation switch can be operated by both direct operation and alternative operation, thus improving operability and safety.
- FIGS. 1 to 6 show an emergency switch unit (or an operation switch unit) and an operation system employing the emergency switch unit according to an embodiment of the present invention.
- FIGS. 1 to 3 illustrate an entire operation system.
- FIGS. 4 and 5 illustrate an internal schematic structure of the emergency stop switch unit.
- FIG. 6 illustrates a block diagram of the operation system.
- the operation system 1 may include a robot (or an apparatus) R.
- a worker (or an operator) P may be near the robot R.
- the robot R may be a collaborative (or a cooperative) robot that performs work in collaboration (or cooperation) with the worker P.
- the robot R may pick up a work W on a sub-table T' by a hand at a distal end of a robot arm Ra and put it sequentially at a predetermined position in a tray t disposed on a work table T.
- the worked P may put a work W sequentially at a vacant position on the sub-table T' during operation of the robot R.
- a programmable display 50 may be disposed on the work table T.
- the programable display 50 may have a display such as an LCD (i.e. Liquid Crystal Display) or an organic EL (i.e. electroluminescence) display and store a control program of the robot R.
- Safety laser scanners 51 maybe disposed on a side surface, for example, each side surface and a rear surface, of the table T. Each laser scanner 51 detects an approach of the worker P or other persons.
- An emergency stop switch unit (or an operation switch unit) 2 is disposed on a front surface of the table T to urgently stop the robot R.
- the worker P has a portable (or wearable) wireless terminal (or remote operation terminal) 4 mounted on a wrist of a hand.
- the wireless terminal 4 remote-controls the emergency stop switch unit 2 and it includes a push button 40 operable by the other hand or finger of the worker P and a belt 45 holding the push button 40 and wrapped around the wrist of the worker P.
- a graphical light 53 may be fitted near the table T. The graphical light 53 informs the worker P of an advance information of the robot R by irradiating a next mobile spot with a light where the robot hand at a distal end of the robot arm Ra moves to.
- a two-dimensional code scanner 54 may be disposed on the sub-table T' to read a two-dimensional code, or a work information assigned to the work W.
- FIG. 4 shows the state of non-operation of the emergency stop switch unit and FIG. 5 shows the state of operation (i.e. direct operation/alternative operation) of the emergency stop switch unit.
- hatching is omitted for illustration purposes.
- the emergency stop switch unit 2 includes the following elements: a case (or housing) 20; an emergency stop button (or emergency stop switch/operation switch) 21 that is provided at one end of the case 20, that is slidably supported in the axial direction in the case 20, and that has a pressure surface (or direct operation surface) 21a to be pressed manually (or directly operated) by the worker P; an axial portion (or operation axis) 22 extending axially in the case 20 and connected to a rear surface on the opposite side of the pressure surface 21a of the emergency stop button 21; a movable contact 23 fitted to a generally middle of the axial portion 22 and movable along with the axial portion 22; a fixed contact 24 fixedly attached to an internal wall surface of the case 20 and oppositely disposed to the movable contact 23; an electromagnetic solenoid (or actuating portion) 3 provided in the case 20 on the other end side of the case 20, that is, on the rear side opposite the front side or pressing side relative to the pressure surface 21a
- the control circuit 33 is connected to the solenoid 3 through a lead wire 34.
- the axial portion 22 has a flange part 22a protruding radially outwardly at an approximately center of the axial portion 22.
- One end of a coil spring (or opening biasing means) 25 is in contact and engagement with the flange part 22a.
- the other end of the coil spring 25 is in contact and engagement with a projecting part 20a that projects radially inwardly from the internal wall surface of the case 20.
- the coil spring 25 is in a compressed state in an axial space between the projecting part 20a and the flange part 22a such that the coil spring 25 imparts an elastic repulsion (or biasing force) to the projecting part 20a and the flange part 22a.
- Such an elastic repulsion biases the movable contact 23 away from the fixed contact 24, that is, in a contact-opening direction i.e. to the right side of FIG.4 . Therefore, one end of the coil spring 25 moves along with the movement of the axial portion 22.
- an axial line of the coil spring 25 coincides with an axial line of the axial portion 22.
- the elastic repulsion of the coil spring 25 acts in a pressing direction of the emergency stop button 21 and in an operative direction of the solenoid 3 relative to the axial portion 22.
- the coil spring 25 is in a maximum compressive state between the projecting part 20a and the flange part 22a.
- the elastic repulsion of the coil spring 25 is at a maximum value and the coil spring 25 holds the greatest elastic energy.
- the coil spring 25 extends axially from the state of FIG. 4 .
- the elastic repulsion of the coil spring 25 decreases and thus the elastic energy of the coil spring 25 is reduced.
- the axial portion 22 includes a pair of protruding parts 22b that protrude radially outwardly in the vicinity of the emergency stop button 21.
- Each of the protruding part 22b has a trapezoidal shape with a pair of inclined surfaces in a longitudinal cross section.
- Each of the engagement members 26 has a pair of inclined surfaces that are engageable with the corresponding inclined surfaces of the protruding part 22b.
- Each of the engagement members 26 is biased toward the corresponding protruding part 22b by an elastic repulsion of a spring 27 disposed in the case 20.
- the left-hand-side inclined surface of the engagement member 26 as shown in the drawing engages with the right-hand-side inclined surface of the protruding part 22b as shown in the drawing
- the right-hand-side inclined surface of the engagement member 26 as shown in the drawing engages with the left-hand-side inclined surface of the protruding part 22b as shown in the drawing.
- the axial portion 22 includes an engaged part 22A at a distal end thereof.
- the engaged part 22A has a cylindrical shape whose diameter is greater than that of the axial portion 22.
- the solenoid 3 has a solenoid body (or electromagnetic coil portion) 30.
- a plunger 31 is slidably inserted into the solenoid body 30.
- the plunger 31 is concentrically disposed with the axial portion 22.
- the plunger 31 includes an engaging part 31A at a distal end thereof, which is engageable with the engaged part 22A of the axial portion 22.
- the engaging part 31A has a cylindrical shape whose diameter is greater than that of the plunger 31.
- the engaged part 22A at the distal end of the axial portion 22 is inserted into and engaged with an inside hole of the engaging part 31A of the plunger 31.
- the axial portion 22 and the plunger 31 are interconnected with each other and adapted to move integrally with each other.
- the emergency stop switch unit 2 comprises an direct operation part 20A that includes the emergency stop switch 21 and the axial portion 22 and that is adapted to directly operate the emergency stop button 21, and an alternative operation part 20B that includes the plunger 31 and the solenoid 3 and that is adapted to alternatively operate the emergency stop button 21 in lieu of the direct operation part 20A.
- the alternative operation part 20B is adapted to be linked with the direct operation part 20A through the engaging part 31A of the plunger 31 and the engaged part 22A of the axial portion 22.
- the direct operation part 20A and the alternative operation part 20B may be detachably or releasably constructed from each other.
- the alternative operation part 20B can be retrofitted to the direct operation part 20A, it becomes easy for the emergency stop switch unit 2 to be converted into a wireless type. Conversely, when conversion into a wireless type is not necessary, all you have to do is to remove the alternative operation part 20B from the emergency stop switch unit 2 and thus it is easy to be adapted.
- FIGS. 5A and 5B illustrate an example in which extension units 20C, 20C 1 , 20C 2 are respectively added to the emergency stop switch unit 2 of FIG. 5 .
- the extension unit 20C is disposed at a rear end of the emergency stop unit 2 (thus at a rear end of the alternative operation part 20B) and comprises a first extension unit composed of a fixed contact 24' and a movable contact 23' and a second extension unit composed of a fixed contact 24" and a movable contact 23".
- the first extension unit of the extension unit 20C is adapted to be linked with the plunger 31 via the axial portion 22' and the second extension unit is adapted to be linked with the first extension unit via the axial portion 22".
- the first and second extension units are releasable from each other.
- the extension unit 20C may be formed of a single extension unit or three or more extension units including a third extension unit.
- the extension unit 20C 1 is disposed at a mid-portion of the emergency stop switch unit 2, that is, between the direct operation part 20A and the alternative operation part 20B (i.e. at the front end of the alternative operation part 20B) .
- the extension unit 20C 2 is disposed at the rear end of the emergency stop switch unit 2 (thus at the rear of the alternative operation part 20B) .
- the extension unit 20C 1 is composed of a fixed contact 24' and a movable contact 23' and adapted to be linked with the axial portion 22 of the direct operation part 20A via the axial portion 22'.
- the extension unit 20C 1 is detachable from the direct operation part 20A.
- the extension unit 20C 2 is composed of a fixed contact 24" and a movable contact 23" and adapted to be linked with the plunger 31 via the axial portion 22".
- the extension unit 20C 2 is detachable from the alternative operation part 20B.
- the extension units 20C 1 and 20C 2 may be respectively formed of two or more extension units. Also, only the extension unit 20C 1 may be provided without providing the extension unit 20C 2 .
- extension units can be easily retrofitted and added to the unit 2 and also easily detachable from the unit 2, thus facilitating an increase and decrease of the contacts.
- the alternative operation part 20B can be retrofitted directly (or via an extension unit) to the direct operation unit 20A, it becomes easy for the emergency stop switch unit 2 to be converted into a wireless type. When conversion into a wireless type is not necessary, all you have to do is to remove the alternative operation part 20B from the emergency stop switch unit 2 and thus it is easy to be adapted.
- FIG. 6 shows a schematic block diagram of the operation system 1.
- the operation system 1 includes a personal computer (PC) 100 for programming, inputting data and outputting display data, a programmable logic controller (PLC) 101 connected to PC 100, and a programmable display (PDD) 50 connected to PLC 101.
- a robot control program is stored in PLC 101/PDD 50.
- the laser scanner (LS) 51, the two-dimensional code scanner 54, the emergency stop switch 2, a robot drive part 102 including an actuator and a motor, the graphical light 53, and an emergency stop lamp/buzzer 103 are connected to PLC 101/PDD 50.
- the constitution of the operation system 1 according to the present invention is not limited to that of FIG. 6 . Either PC 100, PLC 101 or PDD 50 may be omitted.
- the portable-type wireless terminal 4 is formed of a plurality of wireless terminals 4 1 , 4 2 , ... (In FIG. 6 , only two terminals 4 1 and 4 2 are shown) .
- the wireless terminal 4 1 may have a wireless module fitted therein, which includes a push button 40 1 , a transmission part 41 1 , a reception part 42 1 , a display 43 1 , and a control circuit 44 1 which the above-mentioned elements are connected to.
- the wireless terminal 4 2 may have a wireless module fitted therein, which includes a push button 40 2 , a transmission part 41 2 , a reception part 42 2 , a display 43 2 , and a control circuit 44 2 which the above-mentioned elements are connected to.
- the wireless terminals 4 1 and 4 2 may be respectively held by workers P 1 and P 2 both of whom work near the robot R.
- the wireless terminal 4 1 may be held by the worker P who works near the robot R and the wireless terminal 4 2 may be held by a supervisor who supervises the worker P apart from the robot R.
- the transmission parts 41 1 and 41 2 are provided for transmitting an operation (or stop) signal to remote-control the alternative operation part 20B of the emergency stop unit 2 wirelessly when the push buttons 40 1 and 40 2 are pressed.
- the transmission parts 41 1 and 41 2 are transmissible wirelessly relative to the reception part 32 of the alternative operation part 20B.
- the reception part 42 1 (or 42 2 ) is provided for receiving a stop signal transmitted from the transmission part 41 2 (or 41 1 ) of another wireless terminal 4 2 (or 4 1 ). That is, the transmission parts 41 1 , 41 2 and the reception parts 42 1 , 42 2 of the wireless terminals 4 1 , 4 2 are mutually radio-transmissible.
- the displays 43 1 , 43 2 are provided for display-illumination such as lighting when a worker presses the push buttons 40 1 , 40 2 , display-illumination such as blinking/flickering when another worker presses the push button first, indication of a radio wave intensity level, alarm-display of a dead battery and a radio communication disabled state, and the like.
- radio communications that may be used in this embodiment of the present invention are as follows: Wi-Fi® communication, BLUETOOTH® communication, ZIGBEE® communication, BLE (Bluetooth® Low Energy communication) communication, WiMAX® communication, infrared communication, and the like.
- the robot R is operated in accordance with the robot control program stored in the PLC 101/PDD 50.
- the worker P does jobs in cooperation with the robot R such as placing a work W on the sub-table T' in accordance with the predetermined procedures.
- the emergency stop switch unit 2 is in the state of non-operation that the emergency stop button 21 is not pressed, and the movable contact 23 and the fixed contact 24 are in contact with each other.
- the axial portion 22 When the worker P press-operates manually (or direct-operates) the emergency stop button 21 of the emergency stop switch unit 2 during operation of the robot R, the axial portion 22 is pressed inwardly along with the emergency stop button 21. With the movement of the axial portion 22, the inclined surfaces of the protruding parts 22b of the axial portion 22 cross over the corresponding inclined surfaces of the engagement members 26 against the elastic repulsion of the spring 27, such that thereby the state shown in FIG. 4 is shifted to the state shown in FIG. 5 . At this time, the other inclined surfaces of the protruding parts 22b of the axial portion 22 comes into engagement with the other inclined surfaces of the engagement members 26. Also, the movable contact 23 moves along with the axial portion 22 and away from the fixed contact 24 to open the contacts. As a result, the operation of the robot R stops.
- a direct operation of the emergency stop button 21 is not obstructed, such that thereby not only the original switching function as an operation switch (i.e. opening/closing action or ON/OFF action, etc.) can be achieved but also no requirement required for the emergency stop switch is impaired.
- an operation switch i.e. opening/closing action or ON/OFF action, etc.
- ISO 13850 there is ISO 13850 as a standard concerning an emergency stop function.
- the emergency stop switch unit 2 can satisfy the requirement for an emergency stop function (for example, an electric contact has a direct open-circuit operating mechanism, etc.) prescribed in ISO 13850 even in the state that the alternative operation part 20B is linked with the direct operation part 20A.
- the worker P grasps the emergency stop button 21 to pull it forward (i.e. operate it manually) .
- the resetting operation by adopting a locking mechanism such as a push-lock and turn-reset mechanism, the locking state held by the internal locking mechanism at the time of push-operation of the emergency stop button 21 may be unlocked by turning the emergency stop button 21.
- the transmitting part 41 1 (41 2 ) of the wireless terminal 4 (4 1 or 4 2 ) transmits an operation (or stop) signal (see FIG. 6 ) .
- the operation signal transmitted from the wireless terminal 4 (4 1 or 4 2 ) is received by the reception part 32 of the alternative operation part 20B of the emergency stop switch unit 2 and inputted to the control circuit 33.
- a current is supplied from the control circuit 33 to the solenoid body 30 of the solenoid 3, such that thereby the plunger 31 of the solenoid 3 is drawn inwardly to move to the right-hand side as shown in FIG. 5 .
- the axial portion 22 connected to the plunger 31 also moves to the right-hand side of FIG. 5 .
- a collaborative relationship between the inclined surfaces of the protruding parts 22b and the corresponding inclined surfaces of the engagement member 26 is similar to that of a push-operation of the emergency stop button 21.
- the movable contact 23 moving along with the axial portion 22 travels away from the fixed contact 24 thus causing the operation of the robot R to stop.
- the emergency stop button 21 is in a pushed-in state by moving along with the axial portion 22.
- a state is exactly the same as a state in which the worker P manually press-operates the emergency stop button 21.
- the worker P grasps the emergency stop button 21 to pull it forward (i.e. operate it manually) as with the push-operation of the emergency stop button 21 (see para. [0056]).
- a locking mechanism such as a push-lock and turn-reset mechanism, the locking state held by the internal locking mechanism at the time of push-operation of the emergency stop button 21 may be unlocked by turning the emergency stop button 21.
- the emergency stop button 21 is directly operated. Also, by a current supply to the solenoid 3 of the alternative operation part 20B, the emergency stop button 21 is alternatively operated through the plunger 31 and the axial portion 22 in lieu of the direct operation part 20A. Thereby, both the direct operation and the alternative operation of the emergency stop button 21 can be achieved thus improving operability and safety. Moreover, an installation of the alternative operation part 20B does not hinder the direct operation of the emergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired.
- the remote operation of the wireless terminal 4 for the alternative operation part 20B is detected by the reception part 32 and the alternative operation part 20B is actuated based on the remote operation, that is, the emergency stop button 21 is pressed inwardly, such that thereby the emergency stop button 21 can be operated even at a place away from the emergency stop switch unit 2. Accordingly, even in the situation that the worker P cannot press the emergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving an operability and safety.
- the solenoid 3 is disposed on the side opposite to a press side (or direct operation side) of the emergency stop button 21, the worker P can perform an alternative operation of the emergency stop button 21 without damaging operability at the time of performing the direct operation of the emergency stop button 21.
- the coil spring 25 biases the movable contact 23 to the opening side relative to the fixed contact 24 at all times (i.e. before and after the operation of the emergency stop switch unit 2). Accordingly, especially after operation of the emergency stop switch unit 2, when a malfunction of the emergency stop switch unit 2 occurs such that the movable contact 23 returns to the state in contact with the fixed contact 24, both contacts 23, 24 are biased to open by the action of an elastic repulsion of the coil spring 25 and the both contacts 23, 24 can be maintained in an open state. Therefore, the movable contact 23 and the fixed contact 24 are not caused to be contacted to each other thus securing safety. In such a manner, according to the embodiment, safety can be further enhanced.
- the elastic repulsion of the coil spring 25 is imparted in a press direction of the emergency stop button 21, when the movable contact 23 is caused to forcibly open relative to the fixed contact 24 by a press operation of the emergency stop button 21, the elastic repulsion of the coil spring 25 acts in the same direction as the press direction of the emergency stop button 21. As a result, the movable contact 23 can be caused to open relative to the fixed contact 24 more securely.
- the elastic repulsion of the coil spring 25 acts in an actuating direction (i.e.
- a load can be released at the time of operating the emergency stop button 21 by the solenoid 3, thereby decreasing an output of the solenoid 3 and reducing a cost.
- the elastic repulsion of the coil spring 25 after operation of the emergency stop button 21 is decreased relative to the elastic repulsion of the coil spring 25 before operation of the emergency stop button 21. Therefore, after operation of the emergency stop button 21, an elastic energy held by the coil spring 25 is decreased and thus the elastic energy of the coil spring 25 after opening of the contact is lower than the elastic energy of the coil spring 25 before opening of the contact. As a result, even in case that the emergency stop switch unit 2 has malfunctioned after operation of the emergency stop button 21, the mobile contact 23 and the fixed contact 24 do not return to the state in contact with each other thus further enhancing safety.
- an action direction of the elastic repulsion of the coil spring 25 coincides with an action direction of the solenoid 3, but both action directions do not entirely coincide with each other.
- the elastic repulsion of the coil spring 25 may act at an angle to the action direction of the solenoid 3. In such a case, an axial component of the elastic repulsion coincides with the action direction of the solenoid 3, which can be expected a certain degree of effect.
- an example was shown in which the action direction of the elastic repulsion of the coil spring 25 coincides with a press direction of the emergency stop button 21, but both action directions do not entirely coincide with each other.
- the elastic repulsion of the coil spring 25 may act at an angle to the axial direction of the axial portion 22.
- the axial component of the elastic repulsion coincides with the press direction of the emergency stop button 21, which can be expected a certain degree of effect.
- the plunger 31 is provided separately from the axial portion 22, but an application of the present invention is not limited to such an example. Both members may be integrated with each other.
- the axial portion 22 may be extended toward the solenoid 3 and a distal end side portion of the axial portion 22 may be used as a plunger.
- the actuating portion for alternatively operating the emergency stop button 21 is provided on the side (i.e. back side) opposite the press side (i.e. direct operation side) of the emergency stop button 21, but an application of the present invention is not limited to such an example.
- the actuating portion may be provided at an outer circumferential position such as a side portion, upper or lower portion and the like of the emergency stop button 21. That is, the actuating portion can be located at every position other than the press surface 21a and the inside thereof of the emergency stop button 21. In the specification of the present invention, such a position is generally expressed as a position other than the press surface 21a (i.e. a position different from the press surface 21a) of the emergency stop button 21.
- an emergency stop switch unit was taken as an example as an operation switch, but an application of the present invention was not limited to such an example and the present invention also has application to a press button switch other than the emergency stop switch.
- a switch for handling discrete values may be used such as a selector switch that performs a speed control and the like by speed switching, a lever switch, a cam switch, a foot switch, and the like.
- a potentiometer e.g. variable resistance, variable capacity, etc.
- a signal transmitted from the transmission parts 41 1 , 41 2 of the wireless terminal 4 (41, 42) includes not only a stop signal but also other operation signals.
- these switches may be remotely operated by radio using a solenoid and the like in terms of not only actuation but also reset of the operation switch.
- a buzzer, a speaker or an indicating lamp may be installed in order to give notice to surrounding workers via voice or light.
- a RFID (Radio Frequency Identification) tag may be used as a wireless terminal 4.
- FIGS. 7 to 7B show an emergency stop switch unit according to a first alternative embodiment of the present invention.
- FIG. 7 illustrates a state of non-operation of the emergency stop switch unit
- FIG. 7A illustrates a state of direct operation of the emergency stop switch unit
- FIG. 7B illustrates a state of alternative operation of the emergency stop switch unit.
- a movable contact and a fixed contact are not shown.
- an electric cylinder is adopted in lieu of the solenoid 3 in the first embodiment. That is, a servomotor 6 having a ball screw as an output shaft is used. At a distal end of the ball screw 60, an end 61A of a cylindrical slider 61 is fitted. The end 61A of the slider 61 has a screw hole which a screw member of the ball screw is caused to be in screwing engagement with. The other end 61B of the slider 61 has a small through hole 61a which the axial portion 22 is inserted into. The engaged portion 22A at the distal end of the axial portion 22 is inserted into an interior 61b of the slider 61 to contact the other end 61B.
- drive of the servomotor 6 causes the ball screw 60 to rotate forwardly/reversely, such that thereby the slider 61 moves in a longitudinal direction (i.e. to the left/right in FIGS. 7A to 7C ) along the axial direction.
- the emergency stop switch unit 2 comprises a direct operation part 20A that includes an emergency stop button 21 and an axial portion 22 to directly operate the emergency stop button 21, and an alternative operation part 20B that includes the ball screw 60 and the servomotor 6 to alternatively operate the emergency stop button 21 in lieu of the direct operation part 20A.
- the alternative operation part 20B is adapted to be linked to the direct operation part 20A through the ball screw 60, the slider 61 and the engaged portion 22A of the axial portion 22.
- the direct operation part 20A and the alternative operation part 20B may be separable (That may be applied to other alternative embodiments) .
- an extension unit may be added to the emergency stop switch unit 2 (That may be also applied to other alternative embodiments).
- the slider 61 is disposed at the distal end of the ball screw 60 and the engaged portion 22A at the distal end of the axial portion 22 contacts the other end 61B in the interior space 61b of the slider 61.
- the engaged portion 22A at the distal end of the axial portion 22 forms a gap e relative to the distal end 61B of the slider 61 and a clearance S' ( ⁇ S) relative to the distal end of the ball screw 60.
- a movable contact (not shown) moving along with the axial portion 22 opens relative to a fixed contact (not shown) to stop operation of an apparatus.
- the engaged portion 22A at the distal end of the axial portion 22 moves in the interior space 61b of the slider 61.
- the movement of the axial portion 22 is carried out smoothly (i.e. without a load) . Therefore, a press operation of the emergency stop switch unit 2 by the worker is possible exactly in the same manner as a press operation of a conventional emergency stop switch.
- the worker grasps the emergency stop button 21 and pulls it (i.e. manually operate it). That may be applied to other alternative embodiments.
- the locking state held by the internal locking mechanism at the time of push-operation of the emergency stop button 21 may be unlocked by turning the emergency stop button 21 (That may be also applied to other alternative embodiments).
- the operation signal is received by the reception part 32 of the alternative operation part 20B and inputted into the control circuit 33.
- a current is then supplied from the control circuit 33 to the servomotor 6 to cause the ball screw 60 to rotate forwardly.
- the slider 61 in screwing engagement with the ball screw 60 moves rearwardly (i.e. to the right in FIG. 7B ) along the ball screw 60.
- the engaged portion 22A at the distal end of the axial portion 22 contacting the other end 61B of the slider 61 also moves rearwardly.
- the movable contact (not shown) moving along with the axial portion 22 opens relative to the fixed contact (not shown) to stop operation of the apparatus.
- the emergency stop button 21 is in the pressed state by traveling along with the axial portion 22, such a state being exactly the same as a state of press-operation of the emergency stop button 21 by the worker.
- procedures in resetting the emergency stop button 21 to the state of non-operation are as follows:
- the emergency stop button 21 is directly operated. Also, by a current supply to the servomotor 6 of the alternative operation part 20B, the emergency stop button 21 is alternatively operated through the ball screw 60 and the axial portion 22 in lieu of the direct operation part 20A. Thereby, both the direct operation and the alternative operation of the emergency stop button 21 can be achieved thus improving operability and safety. Moreover, an installation of the alternative operation part 20B does not hinder the direct operation of the emergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired.
- the remote operation of the wireless terminal for the alternative operation part 20B is detected by the reception part 32 and the alternative operation part 20B is actuated based on the remote operation, that is, the emergency stop button 21 is pressed inwardly, such that thereby the emergency stop button 21 can be operated even at a place away from the emergency stop switch unit 2. Accordingly, even in the situation that the worker P cannot press the emergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving an operability and safety.
- the worker P can perform an alternative operation of the emergency stop button 21 without damaging operability at the time of performing the direct operation of the emergency stop button 21.
- FIGS. 8 to 8B show an emergency stop switch unit according to a second alternative embodiment of the present invention.
- FIG. 8 illustrates a state of non-operation of the emergency stop switch unit
- FIG. 8A illustrates a state of direct operation of the emergency stop switch unit
- FIG. 8B illustrates a state of alternative operation of the emergency stop switch unit.
- a movable contact and a fixed contact are not shown.
- the electric cylinder was employed that comprises the servomotor 6 having the ball screw 60 at the output shaft, but in this second alternative embodiment, the ball screw is provided separately from the output shaft of the servomotor.
- a timing gear 63 is fixedly attached at an output shaft 62 of the servomotor 6.
- a pair of ball screws 60 1 , 60 2 are provided.
- timing gears 64 1 , 64 2 are fixedly attached at the rear ends (i.e. right-side end of FIG. 8 ) of the ball screws 60 1 , 60 2 .
- a timing belt 65 is wrapped around the timing gears 63, 64 1 , 64 2 .
- At the front ends i.e.
- sliders 61 1 , 61 2 are fixedly attached.
- the respective sliders 61 1 , 61 2 have a screw hole (not shown) formed which the corresponding ball screws 60 1 , 60 2 are screwed into.
- the sliders 61 1 , 61 2 are oppositely disposed to each other at a clearance E and the axial portion 22 is inserted into the clearance E.
- the engaged portion 22A at the distal end of the axial portion 22 contacts the sliders 61 1 , 61 2 .
- a drive of the servomotor 6 causes the ball screws 60 1 , 60 2 to rotate forwardly/reversely through the rotation of the timing belt 65, such that thereby the sliders 61 1 , 61 2 move in the longitudinally direction (i.e. to the left/right in FIG. 8 ) along the axial direction of the ball screws 60 1 , 60 2 .
- the emergency stop switch unit 2 comprises a direct operation part 20A that includes an emergency stop button 21 and the axial portion 22 to directly operate an emergency stop button 21, and an alternative operation part 20B that includes the ball screws 60 1 , 60 2 and the servomotor 6 to alternatively operate the emergency stop button 21 in place of the direct operation part 20A.
- the alternative operation part 20B is adapted to be linked to the direct operation part 20A through the ball screws 60 1 , 60 2 , the sliders 61 1 , 61 2 and the engaged portion 22A of the axial portion 22.
- the sliders 61 1 , 61 2 are disposed at the distal ends of the corresponding ball screws 60 1 , 60 2 and the engaged portion 22A at the distal end of the axial portion 22 contacts the sliders 61 1 , 61 2 .
- the engaged portion 22A at the distal end of the axial portion 22 forms a gap e relative to the sliders 61 1 , 61 2 and a clearance S' ( ⁇ S) relative to the output shaft 62 of the servomotor 6.
- a movable contact (not shown) moving along with the axial portion 22 opens relative to a fixed contact (not shown) to stop operation of an apparatus.
- the axial portion 22 moves in the clearance E of the sliders 61 1 , 61 2 .
- the movement of the axial portion 22 is carried out smoothly (i.e. without a load). Therefore, a press operation of the emergency stop switch unit 2 by the worker is possible exactly in the same manner as a press operation of a conventional emergency stop switch.
- the operation signal is received by the reception part 32 of the alternative operation part 20B and inputted into the control circuit 33.
- a current is then supplied from the control circuit 33 to the servomotor 6 to cause the ball screws 60 1 , 60 2 to rotate forwardly.
- the sliders 61 1 , 61 2 in screwing engagement with the respective ball screws 60 1 , 60 2 move rearwardly (i.e. to the right in FIG. 8B ) along the ball screws 60 1 , 60 2 .
- the engaged portion 22A at the distal end of the axial portion 22 contacting the sliders 61 1 , 61 2 also moves rearwardly.
- a movable contact (not shown) moving along with the axial portion 22 opens relative to a fixed contact (not shown) to stop operation of the apparatus.
- the emergency stop button 21 is in the pressed state by traveling along with the axial portion 22, such a state being exactly the same as a state of press-operation of the emergency stop button 21 by the worker.
- procedures in resetting the emergency stop button 21 to the state of non-operation are as follows:
- the emergency stop button 21 is directly operated. Also, by a current supply to the servomotor 6 of the alternative operation part 20B, the emergency stop button 21 is alternatively operated through the ball screw 60 1 , 60 2 and the axial portion 22 in place of the direct operation part 20A. Thereby, both the direct operation and the alternative operation of the emergency stop button 21 can be achieved thus improving operability and safety. Moreover, an installation of the alternative operation part 20B does not hinder a direct operation of the emergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired.
- the remote operation of the wireless terminal for the alternative operation part 20B is detected by the reception part 32 and the alternative operation part 20B is actuated based on the remote operation, that is, the emergency stop button 21 is pressed inwardly, such that thereby the emergency stop button 21 can be operated even at a place away from the emergency stop switch unit 2. Accordingly, even in the situation that the worker P cannot press the emergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving operability and safety.
- the servomotor 6 and the ball screw 60 1 , 60 2 are disposed on the side opposite to a press side (or direct operation side) of the emergency stop button 21, that is, at a position other than the press surface 21a, the worker P can perform an alternative operation of the emergency stop button 21 without damaging operability at the time of performing a direct operation of the emergency stop button 21.
- FIGS. 9 to 9B show an emergency stop switch unit according to a third alternative embodiment of the present invention.
- FIG. 9 illustrates a state of non-operation of the emergency stop switch unit
- FIG. 9A illustrates a state of direct operation of the emergency stop switch unit
- FIG. 9B illustrates a state of alternative operation of the emergency stop switch unit.
- a movable contact and a fixed contact are not shown.
- the electric cylinder was employed to move the slider 61, but in this third alternative embodiment, a rack and pinion mechanism is adopted.
- a rack and pinion mechanism is adopted at an output shaft of the servomotor 6, a pinion 66 is fitted, which is in engagement with a rack 67 extending in the longitudinal direction (i.e. to the left to right in FIG. 9 ).
- a cylindrical slider 61 is fitted at a front end (i.e. at a left side end of FIG. 9 ) of the rack 67.
- the engaged portion 22A at the distal end of the axial portion 22 is inserted into the interior space 61b of the slider 61 to contact the other end 61B.
- the emergency stop switch unit 2 comprises a direct operation part 20A that includes an emergency stop button 21 and the axial portion 22 to directly operate the emergency stop button 21, and an alternative operation part 20B that includes the pinion 66, the rack 67 and the servomotor 6 to alternatively operate the emergency stop button 21 in place of the direct operation part 20A.
- the alternative operation part 20B is adapted to be linked to the direct operation part 20A through the pinion 66, the rack 67, the slider 61 and the engaged portion 22A of the axial portion 22.
- the engaged portion 22A at the distal end of the axial portion 22 forms a gap e relative to the other end 61B of the slider 61 and a clearance S' ( ⁇ S) relative to the other end 61A of the slider 61.
- a movable contact (not shown) moving along with the axial portion 22 opens relative to a fixed contact (not shown) to stop operation of an apparatus.
- the engaged portion 22A at the distal end of the axial portion 22 moves in the interior space 61b of the slider 61.
- the movement of the axial portion 22 is carried out smoothly (i.e. without a load) . Therefore, a press operation of the emergency stop switch unit 2 by the worker is possible exactly in the same manner as a press operation of a conventional emergency stop switch.
- the operation signal is received by the reception part 32 of the alternative operation part 20B and inputted into the control circuit 33.
- a current is then supplied from the control circuit 33 to the servomotor 6 to cause the pinion 66 to rotate forwardly.
- the slider 61 moves rearwardly (i.e. to the right in FIG. 7B ) through the rack 67.
- the engaged portion 22A at the distal end of the axial portion 22 contacting the other end 61B of the slider 61 also moves rearwardly.
- the movable contact (not shown) moving along with the axial portion 22 opens relative to the fixed contact (not shown) to stop operation of the apparatus.
- the emergency stop button 21 is in the pressed state by traveling along with the axial portion 22, such a state being exactly the same as a state of press-operation of the emergency stop button 21 by the worker.
- procedures in resetting the emergency stop button 21 to the state of non-operation are as follows:
- the emergency stop button 21 is directly operated. Also, by a current supply to the servomotor 6 of the alternative operation part 20B, the emergency stop button 21 is alternatively operated through the pinion 66, the rack 67 and the axial portion 22 in place of the direct operation part 20A. Thereby, both the direct operation and the alternative operation of the emergency stop button 21 can be achieved thus improving operability and safety. Moreover, an installation of the alternative operation part 20B does not hinder a direct operation of the emergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired.
- the remote operation of the wireless terminal for the alternative operation part 20B is detected by the reception part 32 and the alternative operation part 20B is actuated based on the remote operation, that is, the emergency stop button 21 is pressed inwardly, such that thereby the emergency stop button 21 can be operated even at a place away from the emergency stop switch unit 2. Accordingly, even in the situation that the worker P cannot press the emergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving an operability and safety.
- the servomotor 6, the pinion 66 and the rack 67 are disposed on the side opposite to a press side (or direct operation side) of the emergency stop button 21, that is, at a position other than the press surface 21a, the worker P can perform an alternative operation of the emergency stop button 21 without damaging operability at the time of performing a direct operation of the emergency stop button 21.
- FIGS. 10 to 10B show an emergency stop switch unit according to a fourth alternative embodiment of the present invention.
- FIG. 10 illustrates a state of non-operation of the emergency stop switch unit
- FIG. 10A illustrates a state of direct operation of the emergency stop switch unit
- FIG. 10B illustrates a state of alternative operation of the emergency stop switch unit.
- a movable contact and a fixed contact are not shown.
- a mechanism composed of a compression spring and a stopper is employed to move the slider 61.
- a cylindrical slider 61 is slidable longitudinally (i.e. to the left to right direction in FIG. 10 ) in the case 20.
- a stopper 68 is in contact with an end 61A of the slider 61.
- the stopper 68 is provided movably to take a locking position ( FIGS. 10 , 10A ) for contacting the end 61A of the slider 61 to lock the slider 61 and an unlocking position ( FIG. 10B ) for moving away from the end 61A of the slider 61 to unlock a locking state of the slider 61.
- An inclined surface 61c is formed at a corner of the end 61A of the slider 61 in the vicinity of the stopper 68.
- an inclined surface 68a is formed that corresponds to the inclined surface 61c of the slider 61.
- an actuator 69 is provided to actuate the stopper 68.
- the actuator 69 is structured in such a way as to combine a motor with a rack and pinion or a cylinder with a link mechanism, alternatively, to use a solenoid and the like.
- the actuator 69 is connected to the control circuit 33 via a lead wire 34.
- Respective ends of a plurality of longitudinally extending compression springs 70 are fitted to the other end 61B of the slider 61.
- the other ends of the compression springs 70 are pressed against an inner wall surface of the case 20. Thereby, repulsion forces of the respective compression springs 70 act on the slider 61 disposed at the locking position ( FIG. 10 , 10A ).
- the slider 61 has a boss part 61C provided centrally at the other end 61B thereof.
- the boss part 61C has a small through hole 61a formed which the axial portion 22 is inserted into.
- the engaged portion 22A at the distal end of the axial portion 22 is disposed inside the interior space 61b of the slider 61 and contacted by the boss part 61C.
- the emergency stop switch unit 2 comprises a direct operation part 20A that includes an emergency stop button 21 and the axial portion 22 to directly operate the emergency stop button 21, and an alternative operation part 20B that includes the stopper 68, the compression springs 70 and the actuator 69 to alternatively operate the emergency stop button 21 in place of the direct operation part 20A.
- the alternative operation part 20B is adapted to be linked to the direct operation part 20A through the slider 61 and the engaged portion 22A of the axial portion 22.
- the stopper 68 disposed at the locking position is in contact with the end 61A of the slider 61.
- the engaged portion 22A at the distal end of the axial portion 22 is in contact with the boss part 61C of the slider 61 in the interior space 61b of the slider 61.
- the engaged portion 22A at the distal end of the axial portion 22 forms a gap e relative to the boss part 61C of the slider 61 and a clearance S' ( ⁇ S) relative to the end 61A of the slider 61.
- amovable contact (not shown) moving along with the axial portion 22 moves away from and opens relative to a fixed contact (not shown) to stop operation of an apparatus.
- the engaged portion 22A at the distal end of the axial portion 22 moves in the interior space 61b of the slider 61.
- the elastic repulsions of the compression springs 70 do not act, the movement of the axial portion 22 is carried out smoothly (i.e. without a load) . Therefore, the press operation of the emergency stop switch unit 2 by the worker is possible exactly in the same manner as a press operation of a conventional emergency stop switch.
- the operation signal is received by the reception part 32 of the alternative operation part 20B and inputted into the control circuit 33.
- a current is then supplied from the control circuit 33 to the actuator 69 to drive it, thereby moving the stopper 68 from the locking position to the unlicking position (see FIG. 10B ).
- the slider 61 moves rearwardly (i.e. to the right in FIG. 7B ) .
- the engaged portion 22A at the distal end of the axial portion 22 contacting the boss part 61C of the slider 61 also moves rearwardly.
- the movable contact (not shown) moving along with the axial portion 22 opens relative to the fixed contact (not shown) to stop operation of the apparatus.
- the inclined surface 68a of the stopper 68 is disposed opposite the inclined surface 61c of the slider 61.
- the emergency stop button 21 is in the pressed state by traveling along with the axial portion 22, such a state being exactly the same as a state of press-operation of the emergency stop button 21 by the worker.
- procedures in resetting the emergency stop button 21 to the state of non-operation are as follows:
- the emergency stop button 21 is directly operated.
- the emergency stop button 21 is alternatively operated through the stopper 68, the compression spring 70 and the axial portion 22 in place of the direct operation part 20A.
- both the direct operation and the alternative operation of the emergency stop button 21 can be achieved thus improving operability and safety.
- an installation of the alternative operation part 20B does not hinder the direct operation of the emergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired.
- the remote operation of the wireless terminal for the alternative operation part 20B is detected by the reception part 32 and the alternative operation part 20B is actuated based on the remote operation, that is, the emergency stop button 21 is pressed inwardly, such that thereby the emergency stop button 21 can be operated even at a place away from the emergency stop switch unit 2. Accordingly, even in the situation that the worker P cannot press the emergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving operability and safety.
- the stopper 68 and the compression coil spring 70 are disposed on the side opposite to a press side (or direct operation side) of the emergency stop button 21, that is, at a position other than the press surface 21a, the worker can perform an alternative operation of the emergency stop button 21 without damaging operability at the time of performing the direct operation of the emergency stop button 21.
- FIGS. 11 and 12 show an emergency stop switch unit according to a fifth alternative embodiment of the present invention.
- FIG. 11 illustrates a state of non-operation of the emergency stop switch unit
- FIG. 12 illustrates a state of alternative operation of the emergency stop switch unit.
- like reference numbers indicate identical or functionally similar elements to those in the above-mentioned embodiment.
- the flange part 22a projecting radially outwardly from the axial portion 22 is disposed at the rear (i.e. to the right in the drawings) of the movable contact 23.
- the projecting part 20a extending radially inwardly from the inner wall surface of the case 20 is disposed at the rear of the movable contact 23.
- the flange part 22a and the projecting part 20a are disposed opposite to each other.
- the coil spring 25 is in a compressed state in an axial space between the projecting part 20a and the flange part 22a.
- the coil spring 25 contacts and engages with the flange part 22a, and the other end of the coil spring 25 contacts the projecting part 20a to engage with the case 20.
- the coil spring 25 imparts an elastic repulsion (or biasing force) to the projecting part 20a and the flange part 22a.
- Such an elastic repulsion biases the movable contact 23 away from the fixed contact 24, that is, in a contact-opening direction i.e. to the right side of FIGS. 11 and 12 .
- the coil spring is disposed at a position near the distal end of the axial portion 22 thus relatively facilitating maintenance such as a replacement of the coil spring 25.
- FIGS. 13 and 14 show an emergency stop switch unit according to a sixth alternative embodiment of the present invention.
- FIG. 13 illustrates a state of non-operation of the emergency stop switch unit
- FIG. 14 illustrates a state of alternative operation of the emergency stop switch unit.
- like reference numbers indicate identical or functionally similar elements to those in the above-mentioned embodiment.
- the flange part 22a projecting radially outwardly from the axial portion 22 is disposed at the rear (i.e. to the right in the drawings) of the movable contact 23.
- the projecting part 20a is disposed at the rear of the movable contact 23, but in this sixth embodiment, unlike the first alternative embodiment, the projecting part 20a is provided at a distal end of a stay 20b that extends forwardly (i.e. to the left in the drawings) from the case 20 at a position near the end of the direct operation part 20A.
- the flange part 22a and the projecting part 20a are disposed opposite to each other.
- the coil spring 25 is in a compressed state in an axial space between the projecting part 20a and the flange part 22a. An end of the coil spring 25 contacts and engages with the flange part 22a, and the other end of the coil spring 25 contacts the projecting part 20a to engage with the case 20.
- the coil spring 25 imparts an elastic repulsion (or biasing force) to the projecting part 20a and the flange part 22a. Such an elastic repulsion biases the movable contact 23 away from the fixed contact 24, that is, in a contact-opening direction i.e. to the right side of FIGS. 13 and 14 .
- the coil spring is disposed at a position near the distal end of the axial portion 22 thus relatively facilitating maintenance such as a replacement of the coil spring 25, and a spring housing space along an outer perimeter of the coil spring 25 can be attained by the stay 20b thus holding the coil spring 25 stably.
- FIGS. 15 to 18B correspond to FIGS. 7 to 10B according to the above-mentioned first to fourth alternative embodiments respectively, which illustrate an example of the internal structure of the emergency stop switch unit 2 shown in the respective alternative embodiments.
- like reference numbers indicate identical or functionally similar elements to those in the above-mentioned embodiment and the first to fourth embodiments.
- a movable contact (or first contact) 23 that is fitted at a mid-portion of the axial portion 22 and that moves along with the axial portion 22 and a fixed contact (or second contact) 24 that is fixed to the inside wall surface of the case 20, that is disposed opposite the movable contact 23 and that is adapted to open and close relative to the movable contact 23.
- the axial portion 22 has a flange part 22a protruding radially outwardly from a mid-portion of the axial portion 22.
- One end of a coil spring (or opening biasing means) 25 is in contact and engagement with the flange part 22a.
- the other end of the coil spring 25 is in contact and engagement with a projecting part 20a that projects radially inwardly from the internal wall surface of the case 20.
- the coil spring 25 is in a compressed state in an axial space between the projecting part 20a and the flange part 22a such that the coil spring 25 imparts an elastic repulsion (or biasing force) to the projecting part 20a and the flange part 22a.
- Such an elastic repulsion biases the movable contact 23 away from the fixed contact 24, that is, in a contact-opening direction i.e. to the right side in FIGS. 15 , 16 , 17 and 18 . Therefore, one end of the coil spring 25 moves along with the movement of the axial portion 22.
- An axial line of the coil spring 25 coincides with an axial line of the axial portion 22.
- the elastic repulsion of the coil spring 25 acts in a pressing direction of the emergency stop button 21.
- the coil spring 25 is in a maximum compressive state between the projecting part 20a and the flange part 22a.
- the elastic repulsion of the coil spring 25 is at a maximum value and the coil spring 25 holds the greatest elastic energy. To the contrary, at the time of operation of the emergency stop switch unit 2 shown in FIGS.
- the coil spring 25 extends axially from the state of FIGS. 15 , 16 , 17 and 18 .
- the elastic repulsion of the coil spring 25 decreases and thus the elastic energy of the coil spring 25 is also decreased.
- the axial portion 22 includes a pair of protruding parts 22b that protrude radially outwardly in the vicinity of the emergency stop button 21.
- Each of the protruding parts 22b has a trapezoidal shape with a pair of inclined surfaces in a longitudinal cross section.
- Each of the engagement members 26 has a pair of inclined surfaces that are engageable with the corresponding inclined surfaces of the protruding part 22b.
- Each of the engagement members 26 is biased toward the corresponding protruding part 22b by an elastic repulsion of a spring 27 disposed in the case 20.
- the structures shown in FIGS. 15 to 18B exhibit the following effects in addition to the effects of the above-mentioned first to fourth alternative embodiments:
- the coil spring 25 biases the movable contact 23 to the opening side relative to the fixed contact 24 at all times (i.e. before and after the operation of the emergency stop switch unit 2). Accordingly, especially after operation of the emergency stop switch unit 2, when a malfunction of the emergency stop switch unit 2 occurs such that the movable contact 23 returns to the state in contact with the fixed contact 24, both contacts 23, 24 are biased to open by the action of an elastic repulsion of the coil spring 25 and the both contacts 23, 24 can be maintained in an open state. Therefore, the movable contact 23 and the fixed contact 24 are not caused to be contacted to each other thus securing safety. In such a manner, safety can be further enhanced.
- the elastic repulsion of the coil spring 25 is imparted in a press direction of the emergency stop button 21, when the movable contact 23 is caused to forcibly open relative to the fixed contact 24 by a press operation of the emergency stop button 21, the elastic repulsion of the coil spring 25 acts in the same direction as the press direction of the emergency stop button 21. As a result, the movable contact 23 can be caused to open relative to the fixed contact 24 more securely.
- the elastic repulsion of the coil spring 25 acts in the moving direction (i.e. a tensile direction of the axial portion 22) of the slider 61, 61 1 , 61 2 relative to the axial portion 22. Therefore, in the examples of FIGS.
- a load can be released at the time of operating the emergency stop button 21 by the servomotor 6, thereby decreasing an output of the servomotor 6 and reducing a cost.
- the tensile force relative to the axial portion 22 is assisted thereby causing the movable contact 23 and the fixed contact 24 to be securely transferred into the open state relative to each other.
- FIGS. 19 and 20 illustrate a schematic internal structure of a safety switch employing an unlock button unit (or operation switch unit) for the safety switch having an operation assisting function according to another embodiment of the present invention.
- FIGS. 19 and 20 show the state in which a cam is rotated by an insertion of an actuator.
- FIG. 19 depicts the state at the time of non-operation of the unlock button unit
- FIG. 20 depicts the state at the time of operation (i.e. direct operation and alternative operation) of the unlock button unit.
- hatching is omitted for illustration purposes.
- the safety switch 8 comprises a case (or housing) 80 installed at a wall or a fixed door at a hazard area, a cam 82 supported rotatably by a shaft 81 on one end side in the case 80, an operation shaft 83 extending longitudinally in the case 80, a solenoid 84 disposed at a longitudinally central position in the case 80, and a contact block 85 disposed on the other end side in the case 80.
- the operation shaft 83 extending through a solenoid body 84A of the solenoid 84. An end of the operation shaft 83 is adapted to engage with an engagement recess 82a of the cam 82.
- an end of the operation shaft 83 is in engagement with the engagement recess 82a and in FIG. 20 , an end of the operation shaft 83 forms a gap relative to the engagement recess 82a.
- the other end of the operation shaft 83 is inserted into the contact block 85. Inside the contact block 85, a compression spring 86 is provided. An elastic repulsion of the compression spring 86 is imparted to the other end of the operation shaft 83.
- An actuator 95 provided at a movable door is insertable into an end side of the case 80. The inserted actuator 95 engages with and rotates the cam 82 to move the operation shaft 83.
- the operation shaft 83 moves in conjunction with the movement of the cam 82, such that thereby a contact of the contact block 85 is switched.
- An unlock plate 87 extending radially outwardly is fixed at a central position of the operation shaft 83.
- the unlock plate 87 has an inclined surface 87a formed at its distal end.
- the unlock button unit (or operation switch unit) 9 for the safety switch 8 is provided at the case 80.
- the unlock button unit 9 extends outwardly from the case 80 at a position opposing the unlock plate 87.
- the unlock button unit 9 includes a unlock button (or operation switch) 90 having a press surface 90a for a worker to press-operate, an axial portion 91 an end of which is connected to a back surface opposite the press surface 90a of the unlock button 90, that extends toward the inside of the case 80, and that is supported slidably at the case 80, a solenoid (or actuating portion) 92 disposed around the axial portion 91, and an unlock portion 93 connected to the other end of the axial portion 91.
- the axial portion 91 is inserted into the solenoid body 92A.
- an inclined surface 93a is formed, which is adapted to come into contact with the inclined surface 87a of the unlock plate 87.
- a reception part (or detection portion) 32 to receive a remote signal from a wireless terminal, and a control circuit 33 to control a drive of the solenoid 92 based on the remote signal received (or detected) by the reception part 32.
- the control circuit 33 is connected to the solenoid 92 through a lead wire 34.
- the axial portion 91 is pressed inwardly along with the unlock button 90. Due to the movement of the axial portion 91, the inclined surface 93a of the unlock portion 93 connected to the distal end of the axial portion 91 presses against and gets over the inclined surface 87a of the unlock plate 87, such that thereby the operation shaft 83 is transferred to the right side in FIG. 20 . As a result, the contact of the contact block 85 is turned off to stop an apparatus in the hazard area.
- one end of the operation shaft 83 is moved away from the engagement recess 82a of the cam 82 to form a gap between the end of the operation shaft 83 and the engagement recess 82a.
- the actuator 95 is moved in the drawing-out direction, a part of the cam 82 that rotates in the clockwise direction comes into contact with the tapered surface 83a at the distal end of the operation shaft 83 to further move the operation shaft 83 longitudinally (i.e. to the right in FIG. 20 ), thereby further rotating the cam 82, such that thereby the movable door can be opened.
- the operation signal is received by the reception part 32 of the safety switch 8 and inputted into the control circuit 33. Then, a current is supplied to the solenoid 92 from the control circuit 33. Thereby, as shown in FIG. 20 , the axial portion 91 moves toward the inside of the case 80 and thus the unlock portion 93 connected to the distal end of the axial portion 91 also moves inwardly.
- the inclined surface 93a of the unlock portion 93 presses against and gets over the inclined surface 87a of the unlock plate 87, such that thereby the operation shaft 83 moves to the right in FIG. 20 .
- the unlock button 90 is in the pressed state by traveling along with the axial portion 91, such a state being exactly the same as a state of press-operation of the unlock button 90 by the worker.
- the worker grasps the unlock button 90 and pulls it (i.e. manually operate it) .
- a locking mechanism such as a push-lock and turn-reset mechanism, the locking state held at the time of press-operation of the unlock button 90 may be unlocked by turning the unlock button 90.
- the unlock button 90 is directly operated. Also, by a current supply to the solenoid 92, the unlock button 90 is alternatively operated through the axial portion 91. Thereby, both the direct operation and the alternative operation of the unlock button 90 can be achieved thus improving operability and safety.
- the remote operation of the wireless terminal 4 for the unlock button 90 is detected by the reception part 32 of the safety switch 8 and the unlock button 90 is actuated based on the remote operation, that is, the unlock button 90 is pressed inwardly, such that thereby the unlock button 90 can be operated even at a place away from the unlock button 90 (e.g. outside the hazard area) . Accordingly, even in the situation that the worker P cannot press the unlock button 90 directly, he/she can operate the unlock button 90 (i.e. perform an operation support of the unlock button 90) thus further improving an operability and safety.
- the solenoid 92 is disposed on the side opposite to a press side (or manually operation side) of the unlock button 90, that is, at a position other than the press surface 21a, the worker P can perform an operation support of the unlock button 90 without damaging operability at the time of performing a manual operation of the unlock button 90.
- the wireless terminal 4 comprises a button (or operation part) 40 such as a push button operable by a finger or a hand of the worker P, a base 4A supporting the button 40, and a pair of belts (or attaching parts) wrapped around a wrist of the worker P.
- a button (or operation part) 40 such as a push button operable by a finger or a hand of the worker P
- a base 4A supporting the button 40 and a pair of belts (or attaching parts) wrapped around a wrist of the worker P.
- one of the belts 45 of the wireless terminal 4 has a plurality of small through holes 45a formed thereinto and the other of the belts 45 has a buckle (not shown) for inserting into the holes 45a.
- a hook-and-loop fastener or other engagement means may be used to detachably engage the both belts 45.
- the base 4A has a guard portion 4B that extends upwardly (or out of the page of FIG. 22 ) from a top surface of the base 4A and that is disposed around a part of an outer circumferential surface of the button 40.
- the guard portion 4B is respectively disposed on the upper and lower sides of the button 40.
- the guard portion 4B is an arcuate shaped member extending along and apart from the outer circumferential surface of the button 40.
- a height position of a top surface 4Ba of each of the guard portions 4B is disposed approximately the same as a height position of a central uppermost surface 40a of the button 40 (see FIGS. 23 to 26 ). Additionally, in the examples shown in FIGS. 23 to 26 , the height position of the top surface 4Ba of each of the guard portions 4B is disposed slightly below the height position of the central uppermost surface 40a of the button 40.
- the reason why the height position of the top surface 4Ba of each of the guard portions 4B is disposed approximately the same as the height position of the central uppermost surface 40a of the button 40 is that even when the worker P hits the wireless terminal 4 against a table or the like with the wireless terminal 4 attached around his/her wrist, the guard portions 4B can prevent the button 40 from being pressed inwardly by the table or the like, i.e. for a malfunction prevention purpose.
- the wireless terminal 4 has a radio module 4C fitted thereinto.
- the radio module 4C incorporates a control circuit including a CPU (Central Processing Unit), a transmission/reception part for transmitting/receiving an operation (or stop) signal in order to operate the emergency stop switch unit 2 by a press operation of the button 40, and a display for performing a variety of indications (Details are described hereinafter).
- a CPU Central Processing Unit
- a transmission/reception part for transmitting/receiving an operation (or stop) signal in order to operate the emergency stop switch unit 2 by a press operation of the button 40
- a display for performing a variety of indications (Details are described hereinafter).
- the wireless terminal 4 has a locking mechanism or latching mechanism fitted thereinto that includes a spring 4D (see FIG. 25 ) and the like to lock the button 40 in the pressed state. Additionally, a reset of the pressed and locked button 40 to the original position may be conducted by the worker's pull of the button 40.
- the transmission part of the wireless terminal 4 transmits an operation (or stop) signal.
- the operation signal is received by the reception part 32 ( FIG. 4 ) of the emergency stop switch unit 2 ( FIG. 1 ) of the robot R.
- the solenoid 3 ( FIG. 4 ) of the emergency stop switch unit 2 is actuated to cause the emergency stop button 21 of the emergency stop switch unit 2 to be pressed, such that thereby the contact is opened. In such a way, the robot R is emergently stopped.
- the wireless terminal 4 (4 1 or 4 2 ) does not directly shutdown a power circuit or an electric circuit of the robot R, but emergently stops the robot R in an indirect manner through the emergency stop switch unit 2 by acting on the emergency stop switch unit 2 provided at the robot R to operate the emergency stop switch unit 2.
- the emergency stop switch unit is externally fitted to the robot. According to this embodiment, by operating such an emergency stop switch unit, a system for wirelessly operating the robot can be easily structured. Accordingly, in a safety system (or operation system) with an emergency stop switch unit, an installation of the wireless terminal that can operate the emergency stop switch wirelessly can facilitate construction of the safety support system (or operation support system) that can support safety of the safety system.
- a button operation by the wireless terminal 4 can achieve an effect similar to an effect in a direct operation of the emergency stop switch unit 2 by the worker P. Therefore, even in the case that the worker P is in a place remote from the emergency stop switch unit 2, he/she can emergently stop the robot R.
- communication of the wireless terminal 4 with the emergency stop switch unit 2 is necessary only in the case of operating the wireless terminal 4 and the wireless terminal 4 does not need to communicate with the emergency stop switch unit 2 at all times. Also, bidirection of communication does not need to be secured. Thereby, power consumption can be reduced and cost can be decreased.
- the button 40 may be locked in a pressed state by the locking mechanism/latching mechanism and the button 40 may be turned on to let the worker P know that the button 40 is pressed.
- the worker P may pull the pressed button 40 of the wireless terminal 4 to return it to the original position and also may pull the emergency stop button 21 of the emergency stop switch unit 2 to return it to the original position.
- the button 40 of the wireless terminal 4 when the worker P press-operates the button 40 of the wireless terminal 4, the signal transmitted from the transmission part of the wireless terminal 4 is received by the reception part of another wireless terminal 4. Then, the button 40 of another wireless terminal 4 may be turned on and off. Thereby, a holder (s) of other wireless terminals (e.g. one or a plurality of other workers or a supervisor) is informed that any of the wireless terminals has been operated.
- other wireless terminals e.g. one or a plurality of other workers or a supervisor
- FIGS. 27 to 32 the wireless terminal 4 according to a second embodiment of the present invention will be explained hereinafter with reference to FIGS. 27 to 32 .
- like reference numbers indicate identical or functionally similar elements to those in the above-mentioned first embodiment.
- This second embodiment differs from the first embodiment in that the belt 45 of the wireless terminal 4 is detachable or removable.
- FIGS. 27 to 30 show a state that the belt 45 is attached to the wireless terminal 4 and
- FIGS. 31 and 32 show a state that the belt 45 is removed from the wireless terminal 4.
- the wireless terminal 4 has a terminal body 4E, which comprises a button 40 and a base 4A to hold the button 40.
- a groove 4Aa is respectively formed along the side surfaces.
- the belt 45 has a case portion 4F that the terminal body 4E is detachably engageable with and that can house the terminal body 4E.
- the case portion 4F comprises a bottom plate part 4Fa and a pair of side plate portions 4Fb that extend upwardly from both side portions of the bottom plate part 4Fa.
- Each of the belts 45 extends laterally from each of the side plate portions 4Fb of the case portion 4F.
- Inside surface of each of the side plate portions 4Fb there is formed a protrusion part 4Fb 1 that extends along the inside surface of the side plate portion 4Fb and that is engageable with each of the grooves 4Aa of the base 4A.
- An attachment of the terminal body 4E to the case portion 4F may be carried out when the belts 45 are wrapped around a wrist of the worker P. Also, removal of the terminal body 4E from the case portion 4F is possible by moving the terminal body 4E away from the case portion 4F, that is, in a direction opposite the arrow-mark direction in FIG. 31 .
- the terminal body 4E of the wireless terminal 4 is detachable relative to the case portion 4F of the belt 45, by adjusting exterior shapes of terminal bodies of wireless terminals of various kinds and specifications to an exterior shape of the terminal body 4E of the wireless terminal 4, communization of the belt 45 becomes possible. Also, due to an easy removal of the terminal body 4E of the wireless terminal 4, as carrying/wearing of the wireless terminal 4 is not limited to a specified worker, the degree of freedom of the wireless terminal 4 in carrying/wearing it is increased. Moreover, the terminal body 4E detached from the case portion 4F can be temporally fitted to a table, a guard fence or the like that is located at a position near the worker P, thus improving flexibility in working.
- the terminal body 4E detached from the case portion 4F is easy to be attached and detached relative to a working space, thereby further improving flexibility in working.
- a worker having lost an arm cannot attach a belt and perform a button operation or the like
- convenience of the wireless terminal 4 can be improved.
- an attachment of the terminal body 4E to the case portion 4F may be carried out by using an magnetic force of the magnet.
- An action of the system when the worker performs a press operation of the button 40 of the terminal body 4E of the wireless terminal 4 during operation of the robot is similar to that of the above-mentioned first embodiment. That is, the wireless terminal 4 transmits an operation (or stop) signal, which is received by the emergency stop switch unit 2 beside the robot, such that thereby the emergency stop button 21 of the emergency stop switch unit 2 is pressed inwardly to open the contacts thus stopping the robot emergently.
- a wrist-watch type (or wrist-band type) was taken as an example that the worker P can attach it around his/her wrist.
- an attaching part of a body of the worker P it is not limited to the wrist, but a finger (i.e. ring type) or a palm of a hand may be used.
- a wireless terminal with a built-in acceleration sensor may be used so as to be operated by a flick of a wrist.
- the wireless terminal 4 is not limited to such a portable type (or wearable type).
- An attachment portion for attaching the wireless terminal 4 to a body of the worker P such as a belt 45 or the like may be omitted (see the wireless terminal body 4E of the above-mentioned second embodiment).
- the wireless terminal 4 may be putted into a pocket of working clothes or fitted to a top portion of a traffic/road cone that is placed at a construction site or the like.
- the wireless terminal 4 may be a pendant-type operation terminal.
- the wireless terminal 4 was composed of two wireless terminals 4 1 , 4 2 , but an application of the present invention is not limited to such an example.
- the wireless terminal 4 may be composed of three or more terminals, and alternatively, it may be composed of a single terminal. Also, the wireless terminal maybe cooperated with a personal computer, tablet, smartphone or the like. Thereby, various settings and indications become easy.
- RFID Radio Frequency Identifier
- biometrics authentication function e.g. electrocardiogram measurement function or vein pattern reading function, etc.
- biometrics authentication function may be added to the wireless terminal 4 (4 1 , 4 2 ).
- the button 40 was shown that is pressed inwardly in a direction perpendicular to the belt 45, but an application of the present invention is not limited to such an example.
- the button 40 various kinds of variants can be adopted.
- the wireless terminal 4 as the remote operation portion and the reception part 32 as the detection part were taken as examples, but an application of the present inventio is not limited to such examples .
- the remote operation portion and the detector part may include the following combinations: a combination of optical signal and a photoelectric sensor; a combination of audio signal and a microphone; a combination of video signal and a camera; a combination of an operation instrument such as a lever that operates a linear/rod-like long member such as a wire and a movable member that follows the movement of the distal end of the long member; a combination of a nozzle spouting compressed air and a receiving member that receives compressed air from the nozzle; and a combination of a gun that fires bullets such as BB bullets and a target member that is hit by the bullet fired by the gun, etc.
- the collaborative robot was taken as an example as an apparatus that the operation switch unit of the present invention is applied to, but the present invention also has application to industrial robots other than collaborative robots. It is also applicable to not only a single robot but also a plurality of robots.
- the application of the present invention is not limited to a vertically articulated robot but is applicable to other robots such as a SCARA robot and a parallel link robot and also to an AGV (Automated Guided Vehicle).
- the application of the present invention is not limited to the field of FA (Factory Automation) (i.e. manufacturing industry), but it may be the field of industrial vehicles and construction vehicles including special vehicles such as a power shovel and the like (i.e. construction/civil work industry), restaurant business, food industry, medicine, and distribution industry.
- the present invention is of use to an operation switch unit that can improve operability and safety as the operation switch.
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Push-Button Switches (AREA)
Abstract
Description
- The present invention relates generally to an operation switch unit, a remote operation terminal and an operation system that have an improved operability and safety.
- An apparatus that includes a push switch is shown in Japanese patent publication No.
4872106 figures 1 ,2 ). The apparatus shown in the above JP publication includes a push switch (63) to switch an operation state of a device (20) manually and a controller (1) that has a cylinder (42) to operate the push switch (63) in accordance with a control signal from a control indication unit (30) and a push button (73) contacted by the cylinder (42) . The cylinder (42) is provided in a cover (9) disposed in front of the push switch (63). - In the above-mentioned prior-art apparatus, when a user or operator operates the push switch (63), he/she manually depresses a rear portion of the cylinder (42) that is exposed from the cover (9). Then, the cylinder (42) is pressed into the cover (9) to press the push button (73), such that thereby the push switch (63) is depressed (see paras. [0028] and [0029]). On the other hand, when operating the push switch (63) by the control signal from the control indication unit (30), the cylinder (42) presses the press button (73) in response to the control signal from the control indication unit (30), such that thereby the push switch (63) is depressed (see pare. [0016]).
- The above-mentioned JP publication describes in paras. [0037] and [0039] that switching changeover operation by the user/operator is not disturbed even in the state that the controller (1) is installed. However, when the user/operator operates the push switch (63) manually, as mentioned above, he/she indirectly operates the push switch (63) through the cylinder (42) and the push button (73) by depressing the rear portion of the cylinder (42). That is, in the apparatus shown in the above-mentioned JP publication, installation of the controller (1) in front of the push switch (63) does not allow the user/operator to directly operate the push switch (63). Thereby, operability is deteriorated at the time of a user's manual operation of the push switch (63). Also, at the time of manual operation, the user must depress the rear portion of the cylinder (42), the rear portion being quite small compared to a front face of the push switch (63), which also indicates that operability is deteriorated at the time of manual operation of the push switch (63).
- On the other hand,
WO 2016/181734 pamphlet shows an emergency stop terminal (200) as a wireless operation terminal that includes a first communication portion (221) which performs a wireless communication between an emergency stop button (210) and a controller (100) to perform a motion control of a stacker crane (30) (see para. [0010] andfigure 1 ) . The pamphlet describes that at the time of normal operation, the communication portion (221) and the controller (100) are in the state of communication at all times, and when the emergency stop button (210) is depressed, the state of wireless communication between the first communication portion (221) and the controller (100) of the stacker crane (30) is altered, such that thereby the controller (100) breaks a power circuit of the stacker crane (30) to stop the stacker crane (30) (seeparas. [0010], [0016], [0068]-[0070], [0073], [0121]-[0123] andfigures 2 ,3 ). - Japanese patent application publication No.
2016-502248 - In the prior-art emergency stop terminal and control system shown in the above-mentioned publications, the emergency stop terminal and the portable emergency stop button are structured in such a way as to directly break/control the power circuit/electric circuit of the apparatus wirelessly during operation. Therefore, such a break circuit/control circuit needs to be preinstalled into the circuit of the apparatus, thus making the system complicated. Such a complication of the system results in an increase of a failure rate, which leads to a harmful influence to construction of a safety system. Also, in the event that the break circuit/control circuit is directly controlled by radio, the system is made more complicated due to a bidirectional communication, duplication and the like.
- Moreover, an emergency stop switch generally includes a push button (or operation switch) operable by an operator, an operation axis slidable by pressing operation of the push button, and contacts to be turned on/off according to a movement of the operation axis (see
figure 1 of Japanese patent application publication No.2001-35302 - In the prior-art emergency stop switch, the operator needs to be so close to the emergency stop switch in operating the push button. He/she was not able to operate the emergency stop switch at a place apart from the emergency stop switch. Therefore, there has been a demand for an emergency stop switch with an operation support function that enables operation even at a place apart from the emergency stop switch. On the other hand, in the emergency stop switch, even when the switch has been damaged it should be avoided from a safety point of view that the contacts turn to a contact state again.
-
- i) Japanese Patent No.
4872106 Figures 1 and2 ); - ii) International Patent Publication
WO 2016/181734 (see paras. [0010], [0016], [0068]-[0070], [0073] and [0121]-[0123], andFigures 1-3 ); - iii)Japanese Patent Application Publication No.
2016-502248 - iv) Japanese Patent Application Publication No.
2001-35302 Figure 1 ). - The present invention has been made in view of these circumstances and its object is to provide an operation switch unit that can directly and alternatively operate an operation switch to improve operability and safety. Another object of the present invention is to easily build a system that can operate an operation switch remotely to improve operability and safety.
- In one aspect, the present invention is an operation switch unit. The operation switch unit may include a direct operation part that has a manually operable operation switch and that is adapted to directly operate the operation switch, and an alternative operation part that is adapted to be linked with the direct operation part and that alternatively operates the operation switch in place of the direct operation part.
- According to the present invention, the operation switch is directly operated by the direct operation part and alternatively operated by the alternative operation part. Thereby, the operation switch can be operated by both direct operation and alternative operation, thus improving operability and safety.
- The operation switch may be an emergency stop switch. In the state of linkage with the direct operation part, the alternative operation part does not impair any requirement that is required for the emergency stop switch. Thereby, even in the state that the alternative operation part is linked to the direct operation part, the operation switch can perform an original emergency stop function as an emergency stop switch.
- The alternative operation part may include a detection part that detects a remote operation of the operation switch and an actuating portion that actuates the operation switch on the basis of the remote operation detected by the detection part. In this case, when the remote operation of the operation switch is detected by the detection part, the operation switch is alternatively operated to be actuated by the actuating portion based on the remote control. Thereby, the operation switch can be operated from a distance (that is, operation support can be achieved), thus further improving operability and safety.
- The actuating portion may be provided at a position that is not a manual operation surface of the operation switch. Thereby, when the operation switch is directly operated by the direct operation part, the alternative operation part does not hinder the direct operation and operability is not impaired.
- A reset of the operation switch after actuation by the actuating portion may be performed by an operator's manually operation of the operation switch.
- The operation switch may be a switch adapted to open a first contact and a second contact that are in the state of contact. The operation switch may further comprise an opening biasing means to bias the first contact and the second contact to an opening direction. In this case, since the first contact and the second contact of the operation switch are biased to the opening direction by the opening biasing means, the first contact and the second contact can be put in an opening sate even if the operation switch is damaged, thereby further enhancing safety.
- The opening biasing means may maintain the opening state of the first contact and the second contact by biasing the first contact and the second contact to the opening direction even in the case that abnormality such that the first contact and the second contact return to the state of contact has occurred. By so doing, the first contact and the second contact can be put in an opening sate even if the operation switch is damaged, thereby further enhancing safety.
- A biasing force of the opening biasing means may be applied to an actuating portion in an operative direction to actuate the operation switch, such that thereby a load can be reduced when the actuating portion actuates the operation switch thus lowering an output of the actuating portion to decrease a cost.
- A biasing force of the opening biasing means may be applied to the operation switch in an operative direction, such that thereby when the first contact and the second contact are caused to be opened by operation of the operation switch the biasing force of the opening biasing means is applied in the same direction as the operative direction of the operation switch. As a result, the first contact and the second contact can be opened more securely.
- A biasing force of the opening biasing means after operation of the operation switch may be smaller than a biasing force of the opening biasing means before operation of the operation switch. Thereby, after operation of the operation switch, an elastic energy that the opening biasing means possessed is decreased and thus an elastic energy after opening of the contacts by the opening biasing means is lower than an elastic energy before opening of the contacts. As a result, even if the operation switch is damaged after operation of the operation switch, the first contact and the second contact do not return to the contact state again, thus further enhancing safety.
- The operation switch unit may further comprise an operation axis to move in conjunction with operation of the operation switch. The opening biasing means may be formed of a spring that has one end connected to the side of the operation axis and adapted to move along with the operation axis and that has the other end connected to the side of a housing of the operation switch unit. In this case, a biasing force by the opening biasing means acts between the housing and the operation axis, such that thereby the first contact and the second contact are biased in the opening direction.
- The operation switch may be an emergency stop switch.
- In another aspect, the present invention is a remote operation terminal for operating a manually operable operation switch remotely. The remote operation terminal may comprise an operation element operated by an operator and a remote operation means for operating the operation switch remotely by the operator's operation of the operation element.
- According to the present invention, when the operator operates the operation element, the operation switch is operated remotely by the remote operation means. In this case, the remote operation means does not directly control a power circuit or an electric circuit of an apparatus but indirectly controls the apparatus through the operation switch by acting onto the operation switch of the apparatus to operate the operation switch. A switch such as an emergency stop switch, a stop switch or the like as an operation switch is normally fitted to the apparatus externally. According to the present invention, by operating this kind of an operation switch, such a system as to operate the apparatus remotely can be easily structured and operability and safety of the system can be improved.
- The operation switch may be an emergency stop switch and the operation element may be a button.
- The operation element may include a locking mechanism to be locked in the state of operation.
- The remote operation means maybe a transmission part to transmit an operation signal for operating the operation switch wirelessly.
- In yet another aspect, the present invention is an operation system. The operation system may comprise a manually operable operation switch, a remote operation means for operating the operation switch remotely, a detection part that detects the remote operation by the remote operation means, and an actuating portion that actuates the operation switch on the basis of the remote operation detected by the detection part.
- According to the present invention, when the operation switch is operated remotely by the remote operation means, the detection part detects the remote operation by the remote operation means and then actuating portion actuates the operation switch on the basis of the remote operation detected by the detection part. Thereby, the operation can be performed at a place away from the operation switch thus improving operability and safety.
- The operation system may further comprise an opening biasing means to bias a contact of the operation switch to an opening direction. Thereby, even in the event that the switch has been damaged, the contact can be put at an open state thus further improving safety.
- The remote operation means maybe a transmission part to transmit an operation signal for operating the operation switch wirelessly and the detection part may be a reception part to receive the operation signal from the transmission part.
- In the operation system according to yet another aspect of the present invention, a reset of the operation switch after actuation by the actuating portion may be performed by an operator's manually operation of the operation switch.
- According to the present invention, the operation switch can be operated by both direct operation and alternative operation, thus improving operability and safety.
-
-
FIG. 1 is a general perspective view of an example of the operation system incorporating the emergency stop switch unit as an operation switch unit according to an embodiment of the present invention; -
FIG. 2 is a top plan view of the operation system ofFIG. 1 ; -
FIG. 3 is a side view of the operation system ofFIG. 1 ; -
FIG. 4 is a longitudinal sectional view of the emergency stop switch unit ofFIG. 1 illustrating the state of non-operation of the emergency stop switch unit; -
FIG. 5 is a longitudinal sectional view of the emergency stop switch unit ofFIG. 1 illustrating the state of operation (direct operation/indirect operation) of the emergency stop switch unit; -
FIG. 5A shows an exemplification in which an extension unit is added to the rear end of the emergency stop switch unit ofFIG. 5 ; -
FIG. 5B shows an exemplification in which an extension unit is added to the rear end and the middle of the emergency stop switch unit ofFIG. 5 ; -
FIG. 6 is a schematic illustrating an example of a block diagram of the operation system ofFIG. 1 ; -
FIG. 7 illustrates a first alternative embodiment of the emergency stop switch unit ofFIG. 4 showing the state of non-operation of the emergency stop switch unit; -
FIG. 7A illustrates a first alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of a direct operation (or a manual operation) of the emergency stop switch unit; -
FIG. 7B illustrates a first alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of an alternative operation (or a remote operation) of the emergency stop switch unit; -
FIG. 8 illustrates a second alternative embodiment of the emergency stop switch unit ofFIG. 4 showing the state of non-operation of the emergency stop switch unit; -
FIG. 8A illustrates a second alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of a direct operation (or a manual operation) of the emergency stop switch unit; -
FIG. 8B illustrates a second alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of an alternative operation (or a remote operation) of the emergency stop switch unit; -
FIG. 9 illustrates a third alternative embodiment of the emergency stop switch unit ofFIG. 4 showing the state of non-operation of the emergency stop switch unit; -
FIG. 9A illustrates a third alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of a direct operation (or a manual operation) of the emergency stop switch unit; -
FIG. 9B illustrates a third alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of an alternative operation (or a remote operation) of the emergency stop switch unit; -
FIG. 10 illustrates a fourth alternative embodiment of the emergency stop switch unit ofFIG. 4 showing the state of non-operation of the emergency stop switch unit; -
FIG. 10A illustrates a fourth alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of a direct operation (or a manual operation) of the emergency stop switch unit; -
FIG. 10B illustrates a fourth alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of an alternative operation (or a remote operation) of the emergency stop switch unit; -
FIG. 11 illustrates a fifth alternative embodiment of the emergency stop switch unit ofFIG. 4 showing the state of non-operation of the emergency stop switch unit; -
FIG. 12 illustrates a fifth alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of a direct operation (or a manual operation) and an alternative operation (or a remote operation) of the emergency stop switch unit; -
FIG. 13 illustrates a sixth alternative embodiment of the emergency stop switch unit ofFIG. 4 showing the state of non-operation of the emergency stop switch unit; -
FIG. 14 illustrates a sixth alternative embodiment of the emergency stop switch unit ofFIG. 5 showing the state of a direct operation (or a manual operation) and an alternative operation (or a remote operation) of the emergency stop switch unit; -
FIG. 15 illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 7 showing the state of non-operation of the emergency stop switch; -
FIG. 15A illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 7A showing the state of a direct operation (or a manual operation) of the emergency stop switch; -
FIG. 15B illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 7B showing the state of an alternative operation (or a remote operation) of the emergency stop switch; -
FIG. 16 illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 8 showing the state of non-operation of the emergency stop switch; -
FIG. 16A illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 8A showing the state of a direct operation (or a manual operation) of the emergency stop switch; -
FIG. 16B illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 8B showing the state of an alternative operation (or a remote operation) of the emergency stop switch; -
FIG. 17 illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 9 showing the state of non-operation of the emergency stop switch; -
FIG. 17A illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 9A showing the state of a direct operation (or a manual operation) of the emergency stop switch; -
FIG. 17B illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 9B showing the state of an alternative operation (or a remote operation) of the emergency stop switch; -
FIG. 18 illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 10 showing the state of non-operation of the emergency stop switch; -
FIG. 18A illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 10A showing the state of a direct operation (or a manual operation) of the emergency stop switch; -
FIG. 18B illustrates an example of an internal structure of the emergency stop switch unit ofFIG. 10B showing the state of an alternative operation (or a remote operation) of the emergency stop switch; -
FIG. 19 is a longitudinal sectional view of the safety switch with a lock release button as an operation switch unit according to another alternative embodiment of the present invention illustrating the state of non-operation of the lock release button; -
FIG. 20 is a longitudinal sectional view of the safety switch with a lock release button as an operation switch unit according to another alternative embodiment of the present invention illustrating the state of a direct operation (or a manual operation) and an alternative operation (or a remote operation) of the lock release button; -
FIG. 21 is a general perspective view of the wireless terminal according to a first embodiment of the present invention constituting the operation system ofFIG. 1 ; -
FIG. 22 is a top plan view of the wireless terminal ofFIG. 21 ; -
FIG. 23 is a schematic viewed from line XXIII-XXIII ofFIG. 22 ; -
FIG. 24 is a schematic viewed from line XXIV-XXIV ofFIG. 22 ; -
FIG. 25 is a cross sectional view ofFIG. 22 taken along line XXV-XXV; -
FIG. 26 is a cross sectional view ofFIG. 22 taken along line XXVI-XXVI; -
FIG. 27 is a general perspective view of the wireless terminal according to a second embodiment of the present invention constituting the operation system ofFIG. 1 ; -
FIG. 28 is a top plan view of the wireless terminal ofFIG. 27 ; -
FIG. 29 is a schematic viewed from line XXIX-XXIX ofFIG. 27 corresponding toFIG. 23 ; -
FIG. 30 is a schematic viewed from line XXX-XXX ofFIG. 27 corresponding toFIG. 24 ; -
FIG. 31 is a general perspective view illustrating the state that the terminal body of the wireless terminal ofFIG. 27 is detachable relative to the wearing part; and -
FIG. 32 is a top plan view illustrating the state that the terminal body of the wireless terminal ofFIG. 27 is detachable relative to the wearing part. - The present invention will now be described in detail with reference to embodiments thereof as illustrated in the accompanying drawings. Referring to the drawings,
FIGS. 1 to 6 show an emergency switch unit (or an operation switch unit) and an operation system employing the emergency switch unit according to an embodiment of the present invention. In these drawings,FIGS. 1 to 3 illustrate an entire operation system.FIGS. 4 and 5 illustrate an internal schematic structure of the emergency stop switch unit.FIG. 6 illustrates a block diagram of the operation system. - As shown in
FIGS. 1 to 3 , theoperation system 1 may include a robot (or an apparatus) R. A worker (or an operator) P may be near the robot R. The robot R may be a collaborative (or a cooperative) robot that performs work in collaboration (or cooperation) with the worker P. During operation, the robot R may pick up a work W on a sub-table T' by a hand at a distal end of a robot arm Ra and put it sequentially at a predetermined position in a tray t disposed on a work table T. On the other hand, the worked P may put a work W sequentially at a vacant position on the sub-table T' during operation of the robot R. - A
programmable display 50 may be disposed on the work table T. Theprogramable display 50 may have a display such as an LCD (i.e. Liquid Crystal Display) or an organic EL (i.e. electroluminescence) display and store a control program of the robot R.Safety laser scanners 51 maybe disposed on a side surface, for example, each side surface and a rear surface, of the table T. Eachlaser scanner 51 detects an approach of the worker P or other persons. An emergency stop switch unit (or an operation switch unit) 2 is disposed on a front surface of the table T to urgently stop the robot R. The worker P has a portable (or wearable) wireless terminal (or remote operation terminal) 4 mounted on a wrist of a hand. Thewireless terminal 4 remote-controls the emergencystop switch unit 2 and it includes apush button 40 operable by the other hand or finger of the worker P and abelt 45 holding thepush button 40 and wrapped around the wrist of the worker P. Agraphical light 53 may be fitted near the table T. Thegraphical light 53 informs the worker P of an advance information of the robot R by irradiating a next mobile spot with a light where the robot hand at a distal end of the robot arm Ra moves to. A two-dimensional code scanner 54 may be disposed on the sub-table T' to read a two-dimensional code, or a work information assigned to the work W. - Then, the internal structure of the emergency
stop switch unit 2 will be explained hereinafter in reference toFIGS. 4 and 5 . -
FIG. 4 shows the state of non-operation of the emergency stop switch unit andFIG. 5 shows the state of operation (i.e. direct operation/alternative operation) of the emergency stop switch unit. In these drawings, hatching is omitted for illustration purposes. - As shown in
FIGS. 4 and 5 , the emergency stop switch unit 2 includes the following elements: a case (or housing) 20; an emergency stop button (or emergency stop switch/operation switch) 21 that is provided at one end of the case 20, that is slidably supported in the axial direction in the case 20, and that has a pressure surface (or direct operation surface) 21a to be pressed manually (or directly operated) by the worker P; an axial portion (or operation axis) 22 extending axially in the case 20 and connected to a rear surface on the opposite side of the pressure surface 21a of the emergency stop button 21; a movable contact 23 fitted to a generally middle of the axial portion 22 and movable along with the axial portion 22; a fixed contact 24 fixedly attached to an internal wall surface of the case 20 and oppositely disposed to the movable contact 23; an electromagnetic solenoid (or actuating portion) 3 provided in the case 20 on the other end side of the case 20, that is, on the rear side opposite the front side or pressing side relative to the pressure surface 21a of the emergency stop button 21, i.e. at a position other than the pressure surface 21a; a reception part (or detection part) 32 fitted to the external wall surface of the case 20 and receiving a radio signal from the wireless terminal 4; and a control circuit 33 that controls a drive of the solenoid 3 on the basis of the radio signal received (or detected) by the reception part 32. Thecontrol circuit 33 is connected to thesolenoid 3 through alead wire 34. - The
axial portion 22 has aflange part 22a protruding radially outwardly at an approximately center of theaxial portion 22. One end of a coil spring (or opening biasing means) 25 is in contact and engagement with theflange part 22a. The other end of thecoil spring 25 is in contact and engagement with a projectingpart 20a that projects radially inwardly from the internal wall surface of thecase 20. Thecoil spring 25 is in a compressed state in an axial space between the projectingpart 20a and theflange part 22a such that thecoil spring 25 imparts an elastic repulsion (or biasing force) to the projectingpart 20a and theflange part 22a. Such an elastic repulsion biases themovable contact 23 away from the fixedcontact 24, that is, in a contact-opening direction i.e. to the right side ofFIG.4 . Therefore, one end of thecoil spring 25 moves along with the movement of theaxial portion 22. - In this example, an axial line of the
coil spring 25 coincides with an axial line of theaxial portion 22. The elastic repulsion of thecoil spring 25 acts in a pressing direction of theemergency stop button 21 and in an operative direction of thesolenoid 3 relative to theaxial portion 22. Also, at the time of non-operation of theemergency stop switch 2 shown inFIG. 4 , thecoil spring 25 is in a maximum compressive state between the projectingpart 20a and theflange part 22a. The elastic repulsion of thecoil spring 25 is at a maximum value and thecoil spring 25 holds the greatest elastic energy. To the contrary, at the time of operation of the emergencystop switch unit 2 shown inFIG. 5 , thecoil spring 25 extends axially from the state ofFIG. 4 . The elastic repulsion of thecoil spring 25 decreases and thus the elastic energy of thecoil spring 25 is reduced. - The
axial portion 22 includes a pair of protrudingparts 22b that protrude radially outwardly in the vicinity of theemergency stop button 21. Each of theprotruding part 22b has a trapezoidal shape with a pair of inclined surfaces in a longitudinal cross section. On the other hand, there are provided a pair ofengagement members 26 in thecase 20. Each of theengagement members 26 has a pair of inclined surfaces that are engageable with the corresponding inclined surfaces of theprotruding part 22b. Each of theengagement members 26 is biased toward the corresponding protrudingpart 22b by an elastic repulsion of aspring 27 disposed in thecase 20. At the time of non-operation shown inFIG. 4 , the left-hand-side inclined surface of theengagement member 26 as shown in the drawing engages with the right-hand-side inclined surface of theprotruding part 22b as shown in the drawing, whereas at the time of operation shown inFIG. 5 , the right-hand-side inclined surface of theengagement member 26 as shown in the drawing engages with the left-hand-side inclined surface of theprotruding part 22b as shown in the drawing. - The
axial portion 22 includes anengaged part 22A at a distal end thereof. In this example, theengaged part 22A has a cylindrical shape whose diameter is greater than that of theaxial portion 22. Thesolenoid 3 has a solenoid body (or electromagnetic coil portion) 30. Aplunger 31 is slidably inserted into thesolenoid body 30. Theplunger 31 is concentrically disposed with theaxial portion 22. Theplunger 31 includes anengaging part 31A at a distal end thereof, which is engageable with theengaged part 22A of theaxial portion 22. In this example, theengaging part 31A has a cylindrical shape whose diameter is greater than that of theplunger 31. Theengaged part 22A at the distal end of theaxial portion 22 is inserted into and engaged with an inside hole of theengaging part 31A of theplunger 31. Thereby, theaxial portion 22 and theplunger 31 are interconnected with each other and adapted to move integrally with each other. - As shown in
FIGS. 4 and 5 , the emergencystop switch unit 2 comprises andirect operation part 20A that includes theemergency stop switch 21 and theaxial portion 22 and that is adapted to directly operate theemergency stop button 21, and analternative operation part 20B that includes theplunger 31 and thesolenoid 3 and that is adapted to alternatively operate theemergency stop button 21 in lieu of thedirect operation part 20A. Thealternative operation part 20B is adapted to be linked with thedirect operation part 20A through theengaging part 31A of theplunger 31 and theengaged part 22A of theaxial portion 22. In addition, thedirect operation part 20A and thealternative operation part 20B may be detachably or releasably constructed from each other. In this case, since thealternative operation part 20B can be retrofitted to thedirect operation part 20A, it becomes easy for the emergencystop switch unit 2 to be converted into a wireless type. Conversely, when conversion into a wireless type is not necessary, all you have to do is to remove thealternative operation part 20B from the emergencystop switch unit 2 and thus it is easy to be adapted. -
FIGS. 5A and 5B illustrate an example in whichextension units stop switch unit 2 ofFIG. 5 . InFIG. 5A , theextension unit 20C is disposed at a rear end of the emergency stop unit 2 (thus at a rear end of thealternative operation part 20B) and comprises a first extension unit composed of a fixed contact 24' and a movable contact 23' and a second extension unit composed of a fixedcontact 24" and amovable contact 23". The first extension unit of theextension unit 20C is adapted to be linked with theplunger 31 via the axial portion 22' and the second extension unit is adapted to be linked with the first extension unit via theaxial portion 22". The first and second extension units are releasable from each other. In addition, theextension unit 20C may be formed of a single extension unit or three or more extension units including a third extension unit. - In
FIG. 5B , theextension unit 20C1 is disposed at a mid-portion of the emergencystop switch unit 2, that is, between thedirect operation part 20A and thealternative operation part 20B (i.e. at the front end of thealternative operation part 20B) . Theextension unit 20C2 is disposed at the rear end of the emergency stop switch unit 2 (thus at the rear of thealternative operation part 20B) . Theextension unit 20C1 is composed of a fixed contact 24' and a movable contact 23' and adapted to be linked with theaxial portion 22 of thedirect operation part 20A via the axial portion 22'. Theextension unit 20C1 is detachable from thedirect operation part 20A. Theextension unit 20C2 is composed of a fixedcontact 24" and amovable contact 23" and adapted to be linked with theplunger 31 via theaxial portion 22". Theextension unit 20C2 is detachable from thealternative operation part 20B. In addition, theextension units extension unit 20C1 may be provided without providing theextension unit 20C2. - Accordingly, in the emergency
stop switch unit 2, extension units can be easily retrofitted and added to theunit 2 and also easily detachable from theunit 2, thus facilitating an increase and decrease of the contacts. Moreover, in this case as well, since thealternative operation part 20B can be retrofitted directly (or via an extension unit) to thedirect operation unit 20A, it becomes easy for the emergencystop switch unit 2 to be converted into a wireless type. When conversion into a wireless type is not necessary, all you have to do is to remove thealternative operation part 20B from the emergencystop switch unit 2 and thus it is easy to be adapted. - Next,
FIG. 6 shows a schematic block diagram of theoperation system 1. As shown inFIG. 6 , theoperation system 1 includes a personal computer (PC) 100 for programming, inputting data and outputting display data, a programmable logic controller (PLC) 101 connected toPC 100, and a programmable display (PDD) 50 connected toPLC 101. A robot control program is stored inPLC 101/PDD 50. Also, the laser scanner (LS) 51, the two-dimensional code scanner 54, theemergency stop switch 2, arobot drive part 102 including an actuator and a motor, thegraphical light 53, and an emergency stop lamp/buzzer 103 are connected toPLC 101/PDD 50. In addition, the constitution of theoperation system 1 according to the present invention is not limited to that ofFIG. 6 . EitherPC 100,PLC 101 orPDD 50 may be omitted. - In this example, the portable-
type wireless terminal 4 is formed of a plurality ofwireless terminals FIG. 6 , only twoterminals wireless terminal 41 may have a wireless module fitted therein, which includes apush button 401, atransmission part 411, areception part 421, a display 431, and a control circuit 441 which the above-mentioned elements are connected to. Similarly, thewireless terminal 42 may have a wireless module fitted therein, which includes apush button 402, atransmission part 412, areception part 422, a display 432, and a control circuit 442 which the above-mentioned elements are connected to. Thewireless terminals wireless terminal 41 may be held by the worker P who works near the robot R and thewireless terminal 42 may be held by a supervisor who supervises the worker P apart from the robot R. - The
transmission parts alternative operation part 20B of theemergency stop unit 2 wirelessly when thepush buttons transmission parts reception part 32 of thealternative operation part 20B. The reception part 421 (or 422) is provided for receiving a stop signal transmitted from the transmission part 412 (or 411) of another wireless terminal 42 (or 41). That is, thetransmission parts reception parts wireless terminals push buttons - Next, actions and effects of the present invention will be explained hereinafter.
- During operation, the robot R is operated in accordance with the robot control program stored in the
PLC 101/PDD 50. The worker P does jobs in cooperation with the robot R such as placing a work W on the sub-table T' in accordance with the predetermined procedures. At this time, as shown inFIG. 4 , the emergencystop switch unit 2 is in the state of non-operation that theemergency stop button 21 is not pressed, and themovable contact 23 and the fixedcontact 24 are in contact with each other. - When the worker P press-operates manually (or direct-operates) the
emergency stop button 21 of the emergencystop switch unit 2 during operation of the robot R, theaxial portion 22 is pressed inwardly along with theemergency stop button 21. With the movement of theaxial portion 22, the inclined surfaces of the protrudingparts 22b of theaxial portion 22 cross over the corresponding inclined surfaces of theengagement members 26 against the elastic repulsion of thespring 27, such that thereby the state shown inFIG. 4 is shifted to the state shown inFIG. 5 . At this time, the other inclined surfaces of the protrudingparts 22b of theaxial portion 22 comes into engagement with the other inclined surfaces of theengagement members 26. Also, themovable contact 23 moves along with theaxial portion 22 and away from the fixedcontact 24 to open the contacts. As a result, the operation of the robot R stops. - When press-operating the
emergency stop button 21 of the emergencystop switch unit 2, theplunger 31 connected to theaxial portion 22 is also pressed inwardly. At this juncture, a current is not supplied to thesolenoid body 30. Therefore, there is no sliding resistance during movement of theplunger 31, thus allowing for theplunger 31 to move smoothly (i.e. without a load). Accordingly, a press-operation of theemergency stop button 21 by the worker P can be performed exactly in the same manner as a press-operation of a conventional emergency stop switch without a solenoid. That is to say, in the state that thealternative operation part 20B is linked with thedirect operation part 20A, a direct operation of theemergency stop button 21 is not obstructed, such that thereby not only the original switching function as an operation switch (i.e. opening/closing action or ON/OFF action, etc.) can be achieved but also no requirement required for the emergency stop switch is impaired. Here, there is ISO 13850 as a standard concerning an emergency stop function. The emergencystop switch unit 2 can satisfy the requirement for an emergency stop function (for example, an electric contact has a direct open-circuit operating mechanism, etc.) prescribed in ISO 13850 even in the state that thealternative operation part 20B is linked with thedirect operation part 20A. - Then, when performing a resetting operation for restoring to the original state shown in
FIG. 4 from the state shown inFIG. 5 , the worker P grasps theemergency stop button 21 to pull it forward (i.e. operate it manually) . In addition, regarding the resetting operation, by adopting a locking mechanism such as a push-lock and turn-reset mechanism, the locking state held by the internal locking mechanism at the time of push-operation of theemergency stop button 21 may be unlocked by turning theemergency stop button 21. - On the other hand, during operation of the robot R, when the worker P presses the press button 40 (401 or 402) of the wireless terminal 4 (41 or 42), the transmitting part 411 (412) of the wireless terminal 4 (41 or 42) transmits an operation (or stop) signal (see
FIG. 6 ) . The operation signal transmitted from the wireless terminal 4 (41 or 42) is received by thereception part 32 of thealternative operation part 20B of the emergencystop switch unit 2 and inputted to thecontrol circuit 33. Then, a current is supplied from thecontrol circuit 33 to thesolenoid body 30 of thesolenoid 3, such that thereby theplunger 31 of thesolenoid 3 is drawn inwardly to move to the right-hand side as shown inFIG. 5 . As a result, theaxial portion 22 connected to theplunger 31 also moves to the right-hand side ofFIG. 5 . At this time, a collaborative relationship between the inclined surfaces of the protrudingparts 22b and the corresponding inclined surfaces of theengagement member 26 is similar to that of a push-operation of theemergency stop button 21. Themovable contact 23 moving along with theaxial portion 22 travels away from the fixedcontact 24 thus causing the operation of the robot R to stop. - At this juncture, the
emergency stop button 21 is in a pushed-in state by moving along with theaxial portion 22. Such a state is exactly the same as a state in which the worker P manually press-operates theemergency stop button 21. When performing a resetting operation for restoring to the original state shown inFIG. 4 from the state shown inFIG. 5 , after a current supply to thesolenoid 3 has been stopped, the worker P grasps theemergency stop button 21 to pull it forward (i.e. operate it manually) as with the push-operation of the emergency stop button 21 (see para. [0056]). Alternatively, as mentioned above, by employing a locking mechanism such as a push-lock and turn-reset mechanism, the locking state held by the internal locking mechanism at the time of push-operation of theemergency stop button 21 may be unlocked by turning theemergency stop button 21. - According to this embodiment, by the worker's manual press-operation (or direct-operation) of the
emergency stop button 21 of thedirect operation part 20A, theemergency stop button 21 is directly operated. Also, by a current supply to thesolenoid 3 of thealternative operation part 20B, theemergency stop button 21 is alternatively operated through theplunger 31 and theaxial portion 22 in lieu of thedirect operation part 20A. Thereby, both the direct operation and the alternative operation of theemergency stop button 21 can be achieved thus improving operability and safety. Moreover, an installation of thealternative operation part 20B does not hinder the direct operation of theemergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired. - Also, the remote operation of the
wireless terminal 4 for thealternative operation part 20B is detected by thereception part 32 and thealternative operation part 20B is actuated based on the remote operation, that is, theemergency stop button 21 is pressed inwardly, such that thereby theemergency stop button 21 can be operated even at a place away from the emergencystop switch unit 2. Accordingly, even in the situation that the worker P cannot press theemergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving an operability and safety. Moreover, according to the embodiment, since thesolenoid 3 is disposed on the side opposite to a press side (or direct operation side) of theemergency stop button 21, the worker P can perform an alternative operation of theemergency stop button 21 without damaging operability at the time of performing the direct operation of theemergency stop button 21. - Furthermore, according to this embodiment, the
coil spring 25 biases themovable contact 23 to the opening side relative to the fixedcontact 24 at all times (i.e. before and after the operation of the emergency stop switch unit 2). Accordingly, especially after operation of the emergencystop switch unit 2, when a malfunction of the emergencystop switch unit 2 occurs such that themovable contact 23 returns to the state in contact with the fixedcontact 24, bothcontacts coil spring 25 and the bothcontacts movable contact 23 and the fixedcontact 24 are not caused to be contacted to each other thus securing safety. In such a manner, according to the embodiment, safety can be further enhanced. - Moreover, according to this embodiment, since the elastic repulsion of the
coil spring 25 is imparted in a press direction of theemergency stop button 21, when themovable contact 23 is caused to forcibly open relative to the fixedcontact 24 by a press operation of theemergency stop button 21, the elastic repulsion of thecoil spring 25 acts in the same direction as the press direction of theemergency stop button 21. As a result, themovable contact 23 can be caused to open relative to the fixedcontact 24 more securely. In addition, since the elastic repulsion of thecoil spring 25 acts in an actuating direction (i.e. a tensile direction of the plunger 31) of thesolenoid 3 relative to theaxial portion 22, a load can be released at the time of operating theemergency stop button 21 by thesolenoid 3, thereby decreasing an output of thesolenoid 3 and reducing a cost. - Also, according to this embodiment, the elastic repulsion of the
coil spring 25 after operation of theemergency stop button 21 is decreased relative to the elastic repulsion of thecoil spring 25 before operation of theemergency stop button 21. Therefore, after operation of theemergency stop button 21, an elastic energy held by thecoil spring 25 is decreased and thus the elastic energy of thecoil spring 25 after opening of the contact is lower than the elastic energy of thecoil spring 25 before opening of the contact. As a result, even in case that the emergencystop switch unit 2 has malfunctioned after operation of theemergency stop button 21, themobile contact 23 and the fixedcontact 24 do not return to the state in contact with each other thus further enhancing safety. - In this embodiment, as a most preferred embodiment, an example was shown in which an action direction of the elastic repulsion of the
coil spring 25 coincides with an action direction of thesolenoid 3, but both action directions do not entirely coincide with each other. For example, the elastic repulsion of thecoil spring 25 may act at an angle to the action direction of thesolenoid 3. In such a case, an axial component of the elastic repulsion coincides with the action direction of thesolenoid 3, which can be expected a certain degree of effect. Similarly, in this embodiment, as a most preferred embodiment, an example was shown in which the action direction of the elastic repulsion of thecoil spring 25 coincides with a press direction of theemergency stop button 21, but both action directions do not entirely coincide with each other. For example, the elastic repulsion of thecoil spring 25 may act at an angle to the axial direction of theaxial portion 22. In such a case, the axial component of the elastic repulsion coincides with the press direction of theemergency stop button 21, which can be expected a certain degree of effect. - In this embodiment, an example was shown in which the
plunger 31 is provided separately from theaxial portion 22, but an application of the present invention is not limited to such an example. Both members may be integrated with each other. In this case, for example, theaxial portion 22 may be extended toward thesolenoid 3 and a distal end side portion of theaxial portion 22 may be used as a plunger. - In this embodiment, an example was shown in which the actuating portion for alternatively operating the
emergency stop button 21 is provided on the side (i.e. back side) opposite the press side (i.e. direct operation side) of theemergency stop button 21, but an application of the present invention is not limited to such an example. For example, the actuating portion may be provided at an outer circumferential position such as a side portion, upper or lower portion and the like of theemergency stop button 21. That is, the actuating portion can be located at every position other than thepress surface 21a and the inside thereof of theemergency stop button 21. In the specification of the present invention, such a position is generally expressed as a position other than thepress surface 21a (i.e. a position different from thepress surface 21a) of theemergency stop button 21. - In this embodiment, an emergency stop switch unit was taken as an example as an operation switch, but an application of the present invention was not limited to such an example and the present invention also has application to a press button switch other than the emergency stop switch. Also, a switch for handling discrete values may be used such as a selector switch that performs a speed control and the like by speed switching, a lever switch, a cam switch, a foot switch, and the like. Alternatively, a potentiometer (e.g. variable resistance, variable capacity, etc.) for handling continuous values such as volume may be used. Therefore, a signal transmitted from the
transmission parts - In this embodiment, in case that the
solenoid body 30 cannot draw theplunger 31 inwardly due to a contact welding or the like of themovable contact 23 and the fixedcontact 24, a buzzer, a speaker or an indicating lamp may be installed in order to give notice to surrounding workers via voice or light. Also, a RFID (Radio Frequency Identification) tag may be used as awireless terminal 4. - In this embodiment, an example was shown in which the
solenoid 3 is employed as an actuating portion to actuate theemergency stop button 21, but an application of the present invention is not limited to such an example. A first to fourth alternative embodiments given below respectively show an example in which a mechanism other than thesolenoid 3 as an actuating portion is employed. In these embodiments, like reference numbers indicate identical or functionally similar elements. -
FIGS. 7 to 7B show an emergency stop switch unit according to a first alternative embodiment of the present invention.FIG. 7 illustrates a state of non-operation of the emergency stop switch unit,FIG. 7A illustrates a state of direct operation of the emergency stop switch unit, andFIG. 7B illustrates a state of alternative operation of the emergency stop switch unit. In the drawings, a movable contact and a fixed contact are not shown. - In this first alternative embodiment, an electric cylinder is adopted in lieu of the
solenoid 3 in the first embodiment. That is, aservomotor 6 having a ball screw as an output shaft is used. At a distal end of theball screw 60, anend 61A of acylindrical slider 61 is fitted. Theend 61A of theslider 61 has a screw hole which a screw member of the ball screw is caused to be in screwing engagement with. Theother end 61B of theslider 61 has a small throughhole 61a which theaxial portion 22 is inserted into. The engagedportion 22A at the distal end of theaxial portion 22 is inserted into an interior 61b of theslider 61 to contact theother end 61B. By such a structure, drive of theservomotor 6 causes theball screw 60 to rotate forwardly/reversely, such that thereby theslider 61 moves in a longitudinal direction (i.e. to the left/right inFIGS. 7A to 7C ) along the axial direction. - The emergency
stop switch unit 2 comprises adirect operation part 20A that includes anemergency stop button 21 and anaxial portion 22 to directly operate theemergency stop button 21, and analternative operation part 20B that includes theball screw 60 and theservomotor 6 to alternatively operate theemergency stop button 21 in lieu of thedirect operation part 20A. Thealternative operation part 20B is adapted to be linked to thedirect operation part 20A through theball screw 60, theslider 61 and the engagedportion 22A of theaxial portion 22. In addition, as with the above-mentioned embodiment, thedirect operation part 20A and thealternative operation part 20B may be separable (That may be applied to other alternative embodiments) . Also, similar to the above-mentioned embodiment, an extension unit may be added to the emergency stop switch unit 2 (That may be also applied to other alternative embodiments). - As shown in
FIG. 7 , in the state of non-operation of the emergencystop switch unit 2, theslider 61 is disposed at the distal end of theball screw 60 and the engagedportion 22A at the distal end of theaxial portion 22 contacts theother end 61B in theinterior space 61b of theslider 61. At this juncture, there is formed a clearance S between the engagedportion 22A and the distal end of theball screw 60. From this state, when the worker press-operates (or direct-operates) theemergency stop button 21 manually, theaxial portion 22 along with theemergency stop button 21 is pressed inwardly, such that thereby the state shown inFIG. 7 is shifted to the state shown inFIG. 7A . At this time, the engagedportion 22A at the distal end of theaxial portion 22 forms a gap e relative to thedistal end 61B of theslider 61 and a clearance S' (<S) relative to the distal end of theball screw 60. Thereby, a movable contact (not shown) moving along with theaxial portion 22 opens relative to a fixed contact (not shown) to stop operation of an apparatus. - At the time of press operation of the
emergency stop button 21, the engagedportion 22A at the distal end of theaxial portion 22 moves in theinterior space 61b of theslider 61. At this time, since a load on the side of theservomotor 6 does not occur, the movement of theaxial portion 22 is carried out smoothly (i.e. without a load) . Therefore, a press operation of the emergencystop switch unit 2 by the worker is possible exactly in the same manner as a press operation of a conventional emergency stop switch. In addition, when resetting theemergency stop button 21 to the state of non-operation, the worker grasps theemergency stop button 21 and pulls it (i.e. manually operate it). That may be applied to other alternative embodiments. In addition, regarding the resetting operation, by adopting a locking mechanism such as a push-lock and turn-reset mechanism, the locking state held by the internal locking mechanism at the time of push-operation of theemergency stop button 21 may be unlocked by turning the emergency stop button 21 (That may be also applied to other alternative embodiments). - In the state of non-operation shown in
FIG. 7 , when the wireless terminal transmits an operation signal, the operation signal is received by thereception part 32 of thealternative operation part 20B and inputted into thecontrol circuit 33. A current is then supplied from thecontrol circuit 33 to theservomotor 6 to cause theball screw 60 to rotate forwardly. Then, as shown inFIG. 7B , theslider 61 in screwing engagement with theball screw 60 moves rearwardly (i.e. to the right inFIG. 7B ) along theball screw 60. At this time, the engagedportion 22A at the distal end of theaxial portion 22 contacting theother end 61B of theslider 61 also moves rearwardly. As a result, the movable contact (not shown) moving along with theaxial portion 22 opens relative to the fixed contact (not shown) to stop operation of the apparatus. - In
FIG. 7B , theemergency stop button 21 is in the pressed state by traveling along with theaxial portion 22, such a state being exactly the same as a state of press-operation of theemergency stop button 21 by the worker. In addition, procedures in resetting theemergency stop button 21 to the state of non-operation are as follows: - Firstly, the
servomotor 6 is rotated reversely to cause theslider 61 to move forwardly (i.e. to the left inFIG. 7B ) along theball screw 60; and - Secondly, thereafter (see
FIG. 7A ), the worker grasps theemergency stop button 21 to pull it (i.e. operate it manually). - According to this first alternative embodiment, by the worker's manual press-operation (or direct-operation) of the
emergency stop button 21 of thedirect operation part 20A, theemergency stop button 21 is directly operated. Also, by a current supply to theservomotor 6 of thealternative operation part 20B, theemergency stop button 21 is alternatively operated through theball screw 60 and theaxial portion 22 in lieu of thedirect operation part 20A. Thereby, both the direct operation and the alternative operation of theemergency stop button 21 can be achieved thus improving operability and safety. Moreover, an installation of thealternative operation part 20B does not hinder the direct operation of theemergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired. - Also, the remote operation of the wireless terminal for the
alternative operation part 20B is detected by thereception part 32 and thealternative operation part 20B is actuated based on the remote operation, that is, theemergency stop button 21 is pressed inwardly, such that thereby theemergency stop button 21 can be operated even at a place away from the emergencystop switch unit 2. Accordingly, even in the situation that the worker P cannot press theemergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving an operability and safety. Moreover, according to this first alternative embodiment, since the electric cylinder is disposed on the side opposite to a press side (or direct operation side) of theemergency stop button 21, that is, at a position other than thepress surface 21a, the worker P can perform an alternative operation of theemergency stop button 21 without damaging operability at the time of performing the direct operation of theemergency stop button 21. -
FIGS. 8 to 8B show an emergency stop switch unit according to a second alternative embodiment of the present invention.FIG. 8 illustrates a state of non-operation of the emergency stop switch unit,FIG. 8A illustrates a state of direct operation of the emergency stop switch unit, andFIG. 8B illustrates a state of alternative operation of the emergency stop switch unit. In the drawings, a movable contact and a fixed contact are not shown. - In the above-mentioned first alternative embodiment, the electric cylinder was employed that comprises the
servomotor 6 having theball screw 60 at the output shaft, but in this second alternative embodiment, the ball screw is provided separately from the output shaft of the servomotor. As shown inFIG. 8 , at anoutput shaft 62 of theservomotor 6, atiming gear 63 is fixedly attached. On both sides of theaxial portion 22, a pair of ball screws 601, 602 are provided. At the rear ends (i.e. right-side end ofFIG. 8 ) of the ball screws 601, 602, timing gears 641, 642 are fixedly attached. Atiming belt 65 is wrapped around the timing gears 63, 641, 642. At the front ends (i.e. left-side end ofFIG. 8 ) of thescrews sliders respective sliders sliders axial portion 22 is inserted into the clearance E. The engagedportion 22A at the distal end of theaxial portion 22 contacts thesliders servomotor 6 causes the ball screws 601, 602 to rotate forwardly/reversely through the rotation of thetiming belt 65, such that thereby thesliders FIG. 8 ) along the axial direction of the ball screws 601, 602. - The emergency
stop switch unit 2 comprises adirect operation part 20A that includes anemergency stop button 21 and theaxial portion 22 to directly operate anemergency stop button 21, and analternative operation part 20B that includes the ball screws 601, 602 and theservomotor 6 to alternatively operate theemergency stop button 21 in place of thedirect operation part 20A. Thealternative operation part 20B is adapted to be linked to thedirect operation part 20A through the ball screws 601, 602, thesliders portion 22A of theaxial portion 22. - As shown in
FIG. 8 , in the state of non-operation of the emergencystop switch unit 2, thesliders portion 22A at the distal end of theaxial portion 22 contacts thesliders portion 22A and theoutput shaft 62 of theservomotor 6. From this state, when the worker press-operates (or direct-operates) theemergency stop button 21 manually, theaxial portion 22 along with theemergency stop button 21 is pressed inwardly, such that thereby the state shown inFIG. 8 is shifted to the state shown inFIG. 8A . At this time, the engagedportion 22A at the distal end of theaxial portion 22 forms a gap e relative to thesliders output shaft 62 of theservomotor 6. Thereby, a movable contact (not shown) moving along with theaxial portion 22 opens relative to a fixed contact (not shown) to stop operation of an apparatus. - At the time of press operation of the
emergency stop button 21, theaxial portion 22 moves in the clearance E of thesliders servomotor 6 does not occur, the movement of theaxial portion 22 is carried out smoothly (i.e. without a load). Therefore, a press operation of the emergencystop switch unit 2 by the worker is possible exactly in the same manner as a press operation of a conventional emergency stop switch. - In the state of non-operation shown in
FIG. 8 , when the wireless terminal transmits an operation signal, the operation signal is received by thereception part 32 of thealternative operation part 20B and inputted into thecontrol circuit 33. A current is then supplied from thecontrol circuit 33 to theservomotor 6 to cause the ball screws 601, 602 to rotate forwardly. Then, as shown inFIG. 8B , thesliders FIG. 8B ) along the ball screws 601, 602. At this time, the engagedportion 22A at the distal end of theaxial portion 22 contacting thesliders axial portion 22 opens relative to a fixed contact (not shown) to stop operation of the apparatus. - At this time, the
emergency stop button 21 is in the pressed state by traveling along with theaxial portion 22, such a state being exactly the same as a state of press-operation of theemergency stop button 21 by the worker. In addition, procedures in resetting theemergency stop button 21 to the state of non-operation are as follows: - Firstly, the
servomotor 6 is rotated reversely to cause thesliders FIG. 8B ) along the corresponding ball screws 601, 60; and - Secondly, thereafter (see
FIG. 8A ), the worker grasps theemergency stop button 21 to pull it (i.e. operate it manually). - According to this second alternative embodiment, by the worker's manual press-operation (or direct-operation) of the
emergency stop button 21 of thedirect operation part 20A, theemergency stop button 21 is directly operated. Also, by a current supply to theservomotor 6 of thealternative operation part 20B, theemergency stop button 21 is alternatively operated through theball screw axial portion 22 in place of thedirect operation part 20A. Thereby, both the direct operation and the alternative operation of theemergency stop button 21 can be achieved thus improving operability and safety. Moreover, an installation of thealternative operation part 20B does not hinder a direct operation of theemergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired. - Also, the remote operation of the wireless terminal for the
alternative operation part 20B is detected by thereception part 32 and thealternative operation part 20B is actuated based on the remote operation, that is, theemergency stop button 21 is pressed inwardly, such that thereby theemergency stop button 21 can be operated even at a place away from the emergencystop switch unit 2. Accordingly, even in the situation that the worker P cannot press theemergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving operability and safety. Moreover, according to this second alternative embodiment, since theservomotor 6 and theball screw emergency stop button 21, that is, at a position other than thepress surface 21a, the worker P can perform an alternative operation of theemergency stop button 21 without damaging operability at the time of performing a direct operation of theemergency stop button 21. -
FIGS. 9 to 9B show an emergency stop switch unit according to a third alternative embodiment of the present invention.FIG. 9 illustrates a state of non-operation of the emergency stop switch unit,FIG. 9A illustrates a state of direct operation of the emergency stop switch unit, andFIG. 9B illustrates a state of alternative operation of the emergency stop switch unit. In the drawings, a movable contact and a fixed contact are not shown. - In the above-mentioned first alternative embodiment, the electric cylinder was employed to move the
slider 61, but in this third alternative embodiment, a rack and pinion mechanism is adopted. As show inFIG. 9 , at an output shaft of theservomotor 6, apinion 66 is fitted, which is in engagement with arack 67 extending in the longitudinal direction (i.e. to the left to right inFIG. 9 ). Acylindrical slider 61 is fitted at a front end (i.e. at a left side end ofFIG. 9 ) of therack 67. The engagedportion 22A at the distal end of theaxial portion 22 is inserted into theinterior space 61b of theslider 61 to contact theother end 61B. By such a construction, rotation of theservomotor 6 causes thepinion 66 to rotate forwardly/rearwardly, such that thereby theslider 61 moves longitudinally in the axial direction via therack 67. - The emergency
stop switch unit 2 comprises adirect operation part 20A that includes anemergency stop button 21 and theaxial portion 22 to directly operate theemergency stop button 21, and analternative operation part 20B that includes thepinion 66, therack 67 and theservomotor 6 to alternatively operate theemergency stop button 21 in place of thedirect operation part 20A. Thealternative operation part 20B is adapted to be linked to thedirect operation part 20A through thepinion 66, therack 67, theslider 61 and the engagedportion 22A of theaxial portion 22. - As shown in
FIG. 9 , in the state of non-operation of the emergencystop switch unit 2, the engagedportion 22A at the distal end of theaxial portion 22 is in contact with theother end 61B of theslider 61 in theinterior space 61b. At this juncture, there is formed a clearance S between the engagedportion 22A and theend 61A of theslider 61. From this state, when the worker press-operates (or direct-operates) theemergency stop button 21 manually, theaxial portion 22 along with theemergency stop button 21 is pressed inwardly, such that thereby the state shown inFIG. 9 is shifted to the state shown inFIG. 9A . At this time, the engagedportion 22A at the distal end of theaxial portion 22 forms a gap e relative to theother end 61B of theslider 61 and a clearance S' (<S) relative to theother end 61A of theslider 61. Thereby, a movable contact (not shown) moving along with theaxial portion 22 opens relative to a fixed contact (not shown) to stop operation of an apparatus. - At the time of press operation of the
emergency stop button 21, the engagedportion 22A at the distal end of theaxial portion 22 moves in theinterior space 61b of theslider 61. At this time, since a load on the side of theservomotor 6 does not occur, the movement of theaxial portion 22 is carried out smoothly (i.e. without a load) . Therefore, a press operation of the emergencystop switch unit 2 by the worker is possible exactly in the same manner as a press operation of a conventional emergency stop switch. - In the state of non-operation shown in
FIG. 9 , when the wireless terminal transmits an operation signal, the operation signal is received by thereception part 32 of thealternative operation part 20B and inputted into thecontrol circuit 33. A current is then supplied from thecontrol circuit 33 to theservomotor 6 to cause thepinion 66 to rotate forwardly. Then, as shown inFIG. 9B , theslider 61 moves rearwardly (i.e. to the right inFIG. 7B ) through therack 67. At this time, the engagedportion 22A at the distal end of theaxial portion 22 contacting theother end 61B of theslider 61 also moves rearwardly. As a result, the movable contact (not shown) moving along with theaxial portion 22 opens relative to the fixed contact (not shown) to stop operation of the apparatus. - In
FIG. 9B , theemergency stop button 21 is in the pressed state by traveling along with theaxial portion 22, such a state being exactly the same as a state of press-operation of theemergency stop button 21 by the worker. In addition, procedures in resetting theemergency stop button 21 to the state of non-operation are as follows: - Firstly, the
servomotor 6 is driven to rotate thepinion 66 reversely to cause theslider 61 to move forwardly (i.e. to the left inFIG. 9B ); and - Secondly, thereafter (see
FIG. 9A ), the worker grasps theemergency stop button 21 to pull it (i.e. operate it manually). - According to this third alternative embodiment, by the worker's manual press-operation (or direct-operation) of the
emergency stop button 21 of thedirect operation part 20A, theemergency stop button 21 is directly operated. Also, by a current supply to theservomotor 6 of thealternative operation part 20B, theemergency stop button 21 is alternatively operated through thepinion 66, therack 67 and theaxial portion 22 in place of thedirect operation part 20A. Thereby, both the direct operation and the alternative operation of theemergency stop button 21 can be achieved thus improving operability and safety. Moreover, an installation of thealternative operation part 20B does not hinder a direct operation of theemergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired. - Also, the remote operation of the wireless terminal for the
alternative operation part 20B is detected by thereception part 32 and thealternative operation part 20B is actuated based on the remote operation, that is, theemergency stop button 21 is pressed inwardly, such that thereby theemergency stop button 21 can be operated even at a place away from the emergencystop switch unit 2. Accordingly, even in the situation that the worker P cannot press theemergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving an operability and safety. Moreover, according to this third alternative embodiment, since theservomotor 6, thepinion 66 and therack 67 are disposed on the side opposite to a press side (or direct operation side) of theemergency stop button 21, that is, at a position other than thepress surface 21a, the worker P can perform an alternative operation of theemergency stop button 21 without damaging operability at the time of performing a direct operation of theemergency stop button 21. -
FIGS. 10 to 10B show an emergency stop switch unit according to a fourth alternative embodiment of the present invention.FIG. 10 illustrates a state of non-operation of the emergency stop switch unit,FIG. 10A illustrates a state of direct operation of the emergency stop switch unit, andFIG. 10B illustrates a state of alternative operation of the emergency stop switch unit. In the drawings, a movable contact and a fixed contact are not shown. - In this fourth alternative embodiment, a mechanism composed of a compression spring and a stopper is employed to move the
slider 61. As shown inFIG. 10 , acylindrical slider 61 is slidable longitudinally (i.e. to the left to right direction inFIG. 10 ) in thecase 20. Astopper 68 is in contact with anend 61A of theslider 61. Thestopper 68 is provided movably to take a locking position (FIGS. 10 ,10A ) for contacting theend 61A of theslider 61 to lock theslider 61 and an unlocking position (FIG. 10B ) for moving away from theend 61A of theslider 61 to unlock a locking state of theslider 61. Aninclined surface 61c is formed at a corner of theend 61A of theslider 61 in the vicinity of thestopper 68. At a distal end of thestopper 68, aninclined surface 68a is formed that corresponds to theinclined surface 61c of theslider 61. Outside thecase 20, anactuator 69 is provided to actuate thestopper 68. Theactuator 69 is structured in such a way as to combine a motor with a rack and pinion or a cylinder with a link mechanism, alternatively, to use a solenoid and the like. Theactuator 69 is connected to thecontrol circuit 33 via alead wire 34. - Respective ends of a plurality of longitudinally extending compression springs 70 are fitted to the
other end 61B of theslider 61. The other ends of the compression springs 70 are pressed against an inner wall surface of thecase 20. Thereby, repulsion forces of the respective compression springs 70 act on theslider 61 disposed at the locking position (FIG. 10 ,10A ). Theslider 61 has aboss part 61C provided centrally at theother end 61B thereof. Theboss part 61C has a small throughhole 61a formed which theaxial portion 22 is inserted into. The engagedportion 22A at the distal end of theaxial portion 22 is disposed inside theinterior space 61b of theslider 61 and contacted by theboss part 61C. - The emergency
stop switch unit 2 comprises adirect operation part 20A that includes anemergency stop button 21 and theaxial portion 22 to directly operate theemergency stop button 21, and analternative operation part 20B that includes thestopper 68, the compression springs 70 and theactuator 69 to alternatively operate theemergency stop button 21 in place of thedirect operation part 20A. Thealternative operation part 20B is adapted to be linked to thedirect operation part 20A through theslider 61 and the engagedportion 22A of theaxial portion 22. - As shown in
FIG. 10 , in the state of non-operation of the emergencystop switch unit 2, thestopper 68 disposed at the locking position is in contact with theend 61A of theslider 61. The engagedportion 22A at the distal end of theaxial portion 22 is in contact with theboss part 61C of theslider 61 in theinterior space 61b of theslider 61. At this juncture, there is formed a clearance S between the engagedportion 22A and theend 61A of theslider 61. From this state, when the worker press-operates (or direct-operates) theemergency stop button 21 manually, theaxial portion 22 along with theemergency stop button 21 is pressed inwardly, such that thereby the state shown inFIG. 10 is shifted to the state shown inFIG. 10A . At this time, the engagedportion 22A at the distal end of theaxial portion 22 forms a gap e relative to theboss part 61C of theslider 61 and a clearance S' (<S) relative to theend 61A of theslider 61. Thereby, amovable contact (not shown) moving along with theaxial portion 22 moves away from and opens relative to a fixed contact (not shown) to stop operation of an apparatus. - At the time of press operation of the
emergency stop button 21, the engagedportion 22A at the distal end of theaxial portion 22 moves in theinterior space 61b of theslider 61. At this time, since the elastic repulsions of the compression springs 70 do not act, the movement of theaxial portion 22 is carried out smoothly (i.e. without a load) . Therefore, the press operation of the emergencystop switch unit 2 by the worker is possible exactly in the same manner as a press operation of a conventional emergency stop switch. - In the state of non-operation shown in
FIG. 10 , when the wireless terminal transmits an operation signal, the operation signal is received by thereception part 32 of thealternative operation part 20B and inputted into thecontrol circuit 33. A current is then supplied from thecontrol circuit 33 to theactuator 69 to drive it, thereby moving thestopper 68 from the locking position to the unlicking position (seeFIG. 10B ). Then, as shown inFIG. 10B , due to the action of the elastic repulsion of thecompression spring 70, theslider 61 moves rearwardly (i.e. to the right inFIG. 7B ) . At this time, the engagedportion 22A at the distal end of theaxial portion 22 contacting theboss part 61C of theslider 61 also moves rearwardly. As a result, the movable contact (not shown) moving along with theaxial portion 22 opens relative to the fixed contact (not shown) to stop operation of the apparatus. At this juncture, as shown inFIG. 10B , theinclined surface 68a of thestopper 68 is disposed opposite theinclined surface 61c of theslider 61. - In
FIG. 10B , theemergency stop button 21 is in the pressed state by traveling along with theaxial portion 22, such a state being exactly the same as a state of press-operation of theemergency stop button 21 by the worker. In addition, procedures in resetting theemergency stop button 21 to the state of non-operation are as follows: - Firstly, the
actuator 69 is driven to cause thestopper 68 to move from the unlocking position to the locking position; - At this time, the
stopper 68 moves with theinclined surface 68a pressed against theinclined surface 61c of theslider 61 and as the travel of thestopper 68 theslider 61 gradually moves forwardly (i.e. to the left inFIG. 10B ); and - Secondly, after the
stopper 68 has moved to the locking position (seeFIG. 10A ), the worker grasps theemergency stop button 21 to pull it (i.e. operate it manually), thus returning theemergency stop button 21 to the original position. - According to this fourth alternative embodiment, by the worker's manual press-operation (or direct-operation) of the
emergency stop button 21 of thedirect operation part 20A, theemergency stop button 21 is directly operated. Also, theemergency stop button 21 is alternatively operated through thestopper 68, thecompression spring 70 and theaxial portion 22 in place of thedirect operation part 20A. Thereby, both the direct operation and the alternative operation of theemergency stop button 21 can be achieved thus improving operability and safety. Moreover, an installation of thealternative operation part 20B does not hinder the direct operation of theemergency stop button 21. Thereby, not only the original switching function (or opening/closing operation, ON/OFF operation, etc.) as an operation switch can be achieved but also the requirements for an emergency stop function (see ISO 13850) required as an emergency stop switch are not impaired. - Also, the remote operation of the wireless terminal for the
alternative operation part 20B is detected by thereception part 32 and thealternative operation part 20B is actuated based on the remote operation, that is, theemergency stop button 21 is pressed inwardly, such that thereby theemergency stop button 21 can be operated even at a place away from the emergencystop switch unit 2. Accordingly, even in the situation that the worker P cannot press theemergency stop button 21 directly, he/she can operate the emergency stop button 21 (i.e. perform an operation support of the emergency stop switch unit 2) thus further improving operability and safety. Moreover, according to this fourth alternative embodiment, since thestopper 68 and thecompression coil spring 70 are disposed on the side opposite to a press side (or direct operation side) of theemergency stop button 21, that is, at a position other than thepress surface 21a, the worker can perform an alternative operation of theemergency stop button 21 without damaging operability at the time of performing the direct operation of theemergency stop button 21. -
FIGS. 11 and 12 show an emergency stop switch unit according to a fifth alternative embodiment of the present invention.FIG. 11 illustrates a state of non-operation of the emergency stop switch unit, andFIG. 12 illustrates a state of alternative operation of the emergency stop switch unit. In the drawings, like reference numbers indicate identical or functionally similar elements to those in the above-mentioned embodiment. - As shown in
FIGS. 11 and 12 , in this fifth alternative embodiment, theflange part 22a projecting radially outwardly from theaxial portion 22 is disposed at the rear (i.e. to the right in the drawings) of themovable contact 23. In the same manner, the projectingpart 20a extending radially inwardly from the inner wall surface of thecase 20 is disposed at the rear of themovable contact 23. Theflange part 22a and the projectingpart 20a are disposed opposite to each other. Thecoil spring 25 is in a compressed state in an axial space between the projectingpart 20a and theflange part 22a. An end of thecoil spring 25 contacts and engages with theflange part 22a, and the other end of thecoil spring 25 contacts the projectingpart 20a to engage with thecase 20. Thecoil spring 25 imparts an elastic repulsion (or biasing force) to the projectingpart 20a and theflange part 22a. Such an elastic repulsion biases themovable contact 23 away from the fixedcontact 24, that is, in a contact-opening direction i.e. to the right side ofFIGS. 11 and 12 . - The effects of the invention of this fifth alternative embodiment are similar to those of the above-mentioned embodiment. Moreover, in this case, the coil spring is disposed at a position near the distal end of the
axial portion 22 thus relatively facilitating maintenance such as a replacement of thecoil spring 25. -
FIGS. 13 and 14 show an emergency stop switch unit according to a sixth alternative embodiment of the present invention.FIG. 13 illustrates a state of non-operation of the emergency stop switch unit, andFIG. 14 illustrates a state of alternative operation of the emergency stop switch unit. In the drawings, like reference numbers indicate identical or functionally similar elements to those in the above-mentioned embodiment. - As shown in
FIGS. 13 and 14 , in this sixth alternative embodiment, theflange part 22a projecting radially outwardly from theaxial portion 22 is disposed at the rear (i.e. to the right in the drawings) of themovable contact 23. In the same manner, the projectingpart 20a is disposed at the rear of themovable contact 23, but in this sixth embodiment, unlike the first alternative embodiment, the projectingpart 20a is provided at a distal end of astay 20b that extends forwardly (i.e. to the left in the drawings) from thecase 20 at a position near the end of thedirect operation part 20A. Theflange part 22a and the projectingpart 20a are disposed opposite to each other. Thecoil spring 25 is in a compressed state in an axial space between the projectingpart 20a and theflange part 22a. An end of thecoil spring 25 contacts and engages with theflange part 22a, and the other end of thecoil spring 25 contacts the projectingpart 20a to engage with thecase 20. Thecoil spring 25 imparts an elastic repulsion (or biasing force) to the projectingpart 20a and theflange part 22a. Such an elastic repulsion biases themovable contact 23 away from the fixedcontact 24, that is, in a contact-opening direction i.e. to the right side ofFIGS. 13 and 14 . - The effects of the invention of this sixth alternative embodiment are similar to those of the above-mentioned embodiment. Moreover, in this case, the coil spring is disposed at a position near the distal end of the
axial portion 22 thus relatively facilitating maintenance such as a replacement of thecoil spring 25, and a spring housing space along an outer perimeter of thecoil spring 25 can be attained by thestay 20b thus holding thecoil spring 25 stably. - Next,
FIGS. 15 to 18B correspond toFIGS. 7 to 10B according to the above-mentioned first to fourth alternative embodiments respectively, which illustrate an example of the internal structure of the emergencystop switch unit 2 shown in the respective alternative embodiments. InFIGS. 15 to 18B , like reference numbers indicate identical or functionally similar elements to those in the above-mentioned embodiment and the first to fourth embodiments. - As shown in
FIGS. 15 to 18B , inside the emergencystop switch unit 2, there are provided a movable contact (or first contact) 23 that is fitted at a mid-portion of theaxial portion 22 and that moves along with theaxial portion 22 and a fixed contact (or second contact) 24 that is fixed to the inside wall surface of thecase 20, that is disposed opposite themovable contact 23 and that is adapted to open and close relative to themovable contact 23. - The
axial portion 22 has aflange part 22a protruding radially outwardly from a mid-portion of theaxial portion 22. One end of a coil spring (or opening biasing means) 25 is in contact and engagement with theflange part 22a. The other end of thecoil spring 25 is in contact and engagement with a projectingpart 20a that projects radially inwardly from the internal wall surface of thecase 20. Thecoil spring 25 is in a compressed state in an axial space between the projectingpart 20a and theflange part 22a such that thecoil spring 25 imparts an elastic repulsion (or biasing force) to the projectingpart 20a and theflange part 22a. Such an elastic repulsion biases themovable contact 23 away from the fixedcontact 24, that is, in a contact-opening direction i.e. to the right side inFIGS. 15 ,16 ,17 and18 . Therefore, one end of thecoil spring 25 moves along with the movement of theaxial portion 22. - An axial line of the
coil spring 25 coincides with an axial line of theaxial portion 22. The elastic repulsion of thecoil spring 25 acts in a pressing direction of theemergency stop button 21. Also, at the time of non-operation of theemergency stop switch 2 shown inFIGS. 15 ,16 ,17 and18 , thecoil spring 25 is in a maximum compressive state between the projectingpart 20a and theflange part 22a. The elastic repulsion of thecoil spring 25 is at a maximum value and thecoil spring 25 holds the greatest elastic energy. To the contrary, at the time of operation of the emergencystop switch unit 2 shown inFIGS. 15A ,15B ,16A, 16B ,17A ,17B ,18A and 18B , thecoil spring 25 extends axially from the state ofFIGS. 15 ,16 ,17 and18 . The elastic repulsion of thecoil spring 25 decreases and thus the elastic energy of thecoil spring 25 is also decreased. - The
axial portion 22 includes a pair of protrudingparts 22b that protrude radially outwardly in the vicinity of theemergency stop button 21. Each of the protrudingparts 22b has a trapezoidal shape with a pair of inclined surfaces in a longitudinal cross section. On the other hand, there are provided a pair ofengagement members 26 in thecase 20. Each of theengagement members 26 has a pair of inclined surfaces that are engageable with the corresponding inclined surfaces of theprotruding part 22b. Each of theengagement members 26 is biased toward the corresponding protrudingpart 22b by an elastic repulsion of aspring 27 disposed in thecase 20. At the time of non-operation shown inFIGS. 15 ,16 ,17 and18 , the left-hand-side inclined surface of theengagement member 26 as shown in the drawings engages with the right-hand-side inclined surface of theprotruding part 22b as shown in the drawings, whereas at the time of operation shown inFIGS. 15A ,15B ,16A, 16B ,17A ,17B ,18A and 18B , the right-hand-side inclined surface of theengagement member 26 as shown in the drawings engages with the left-hand-side inclined surface of theprotruding part 22b as shown in the drawings. - The structures shown in
FIGS. 15 to 18B exhibit the following effects in addition to the effects of the above-mentioned first to fourth alternative embodiments:
Thecoil spring 25 biases themovable contact 23 to the opening side relative to the fixedcontact 24 at all times (i.e. before and after the operation of the emergency stop switch unit 2). Accordingly, especially after operation of the emergencystop switch unit 2, when a malfunction of the emergencystop switch unit 2 occurs such that themovable contact 23 returns to the state in contact with the fixedcontact 24, bothcontacts coil spring 25 and the bothcontacts movable contact 23 and the fixedcontact 24 are not caused to be contacted to each other thus securing safety. In such a manner, safety can be further enhanced. - Moreover, since the elastic repulsion of the
coil spring 25 is imparted in a press direction of theemergency stop button 21, when themovable contact 23 is caused to forcibly open relative to the fixedcontact 24 by a press operation of theemergency stop button 21, the elastic repulsion of thecoil spring 25 acts in the same direction as the press direction of theemergency stop button 21. As a result, themovable contact 23 can be caused to open relative to the fixedcontact 24 more securely. In addition, the elastic repulsion of thecoil spring 25 acts in the moving direction (i.e. a tensile direction of the axial portion 22) of theslider axial portion 22. Therefore, in the examples ofFIGS. 15 to 17B , a load can be released at the time of operating theemergency stop button 21 by theservomotor 6, thereby decreasing an output of theservomotor 6 and reducing a cost. Also, in the examples ofFIGS. 18 to 18B , at the time of operating theemergency stop button 21 by the compression coil springs 70, the tensile force relative to theaxial portion 22 is assisted thereby causing themovable contact 23 and the fixedcontact 24 to be securely transferred into the open state relative to each other. - Furthermore, since the elastic repulsion of the
coil spring 25 after operation of theemergency stop button 21 is decreased relative to the elastic repulsion of thecoil spring 25 before operation of theemergency stop button 21. Therefore, after operation of theemergency stop button 21, an elastic energy held by thecoil spring 25 is decreased and thus the elastic energy of thecoil spring 25 after opening of the contact is lower than the elastic energy of thecoil spring 25 before opening of the contact. As a result, even in case that the emergencystop switch unit 2 has malfunctioned after operation of theemergency stop button 21, themovable contact 23 and the fixedcontact 24 do not return to the state in contact with each other thus further enhancing safety. - Next,
FIGS. 19 and 20 illustrate a schematic internal structure of a safety switch employing an unlock button unit (or operation switch unit) for the safety switch having an operation assisting function according to another embodiment of the present invention. In the drawings, like reference numbers indicate identical or functionally similar elements to those in the above-mentioned embodiment.FIGS. 19 and 20 show the state in which a cam is rotated by an insertion of an actuator.FIG. 19 depicts the state at the time of non-operation of the unlock button unit, andFIG. 20 depicts the state at the time of operation (i.e. direct operation and alternative operation) of the unlock button unit. Also, in these drawings, hatching is omitted for illustration purposes. - As shown in
FIGS. 19 and 20 , thesafety switch 8 comprises a case (or housing) 80 installed at a wall or a fixed door at a hazard area, acam 82 supported rotatably by ashaft 81 on one end side in thecase 80, anoperation shaft 83 extending longitudinally in thecase 80, asolenoid 84 disposed at a longitudinally central position in thecase 80, and acontact block 85 disposed on the other end side in thecase 80. Theoperation shaft 83 extending through asolenoid body 84A of thesolenoid 84. An end of theoperation shaft 83 is adapted to engage with anengagement recess 82a of thecam 82. InFIG. 19 , an end of theoperation shaft 83 is in engagement with theengagement recess 82a and inFIG. 20 , an end of theoperation shaft 83 forms a gap relative to theengagement recess 82a. The other end of theoperation shaft 83 is inserted into thecontact block 85. Inside thecontact block 85, acompression spring 86 is provided. An elastic repulsion of thecompression spring 86 is imparted to the other end of theoperation shaft 83. An actuator 95 provided at a movable door is insertable into an end side of thecase 80. The insertedactuator 95 engages with and rotates thecam 82 to move theoperation shaft 83. In this way, theoperation shaft 83 moves in conjunction with the movement of thecam 82, such that thereby a contact of thecontact block 85 is switched. Anunlock plate 87 extending radially outwardly is fixed at a central position of theoperation shaft 83. Theunlock plate 87 has aninclined surface 87a formed at its distal end. - On the other hand, the unlock button unit (or operation switch unit) 9 for the
safety switch 8 is provided at thecase 80. Theunlock button unit 9 extends outwardly from thecase 80 at a position opposing theunlock plate 87. Theunlock button unit 9 includes a unlock button (or operation switch) 90 having apress surface 90a for a worker to press-operate, anaxial portion 91 an end of which is connected to a back surface opposite thepress surface 90a of theunlock button 90, that extends toward the inside of thecase 80, and that is supported slidably at thecase 80, a solenoid (or actuating portion) 92 disposed around theaxial portion 91, and anunlock portion 93 connected to the other end of theaxial portion 91. Theaxial portion 91 is inserted into thesolenoid body 92A. At a distal end of theunlock portion 93, aninclined surface 93a is formed, which is adapted to come into contact with theinclined surface 87a of theunlock plate 87. - On the outside wall surface of the
case 80, there are provided a reception part (or detection portion) 32 to receive a remote signal from a wireless terminal, and acontrol circuit 33 to control a drive of thesolenoid 92 based on the remote signal received (or detected) by thereception part 32. Thecontrol circuit 33 is connected to thesolenoid 92 through alead wire 34. - Then, the effects of this embodiment will be explained hereinafter.
- In the state of non-operation of the
unlock button unit 9 shown inFIG, 19 , one end of theoperation shaft 83 is in engaged with theengagement recess 82a of thecam 82. At this time, the movable door is closed to be locked, and the contact of the contact block is ON and the apparatus in the hazard area is in operation. Also, at this time, theinclined surface 93a of theunlock portion 93 of theunlock button unit 9 is in contact with theinclined surface 87a of theunlock plate 87 of theoperation shaft 83. - When opening the movable door from the state of
FIG. 19 , by the worker's operation outside the hazard area, a current is supplied to thesolenoid 84 to cause theoperation shaft 83 to draw into thesolenoid body 84A. Then, the contact of thecontact block 85 is turned off to stop the apparatus in the hazard area and to unlock the locking state of the movable door. At this juncture, there is formed a gap between the end of theoperation shaft 83 and theengagement recess 82a of thecam 82. From this state, when theactuator 95 is moved in a drawing-out direction, a part of thecam 82 that rotates in a clockwise direction comes into contact with thetapered surface 83a at the distal end of theoperation shaft 83 to further move theoperation shaft 83 longitudinally (i.e. to the right inFIG. 19 ), thereby further rotating thecam 82, such that thereby the movable door can be opened. - Also, from the state of
FIG. 19 , when the worker in the hazard area press-operates (i.e. manually operates) theunlock button 90, theaxial portion 91 is pressed inwardly along with theunlock button 90. Due to the movement of theaxial portion 91, theinclined surface 93a of theunlock portion 93 connected to the distal end of theaxial portion 91 presses against and gets over theinclined surface 87a of theunlock plate 87, such that thereby theoperation shaft 83 is transferred to the right side inFIG. 20 . As a result, the contact of thecontact block 85 is turned off to stop an apparatus in the hazard area. At this time, one end of theoperation shaft 83 is moved away from theengagement recess 82a of thecam 82 to form a gap between the end of theoperation shaft 83 and theengagement recess 82a. From this state, when theactuator 95 is moved in the drawing-out direction, a part of thecam 82 that rotates in the clockwise direction comes into contact with thetapered surface 83a at the distal end of theoperation shaft 83 to further move theoperation shaft 83 longitudinally (i.e. to the right inFIG. 20 ), thereby further rotating thecam 82, such that thereby the movable door can be opened. - In this case, at the time of press operation of the
unlock button 90, theaxial portion 91 is also pressed inwardly. However, at this time, since a current is not supplied to thesolenoid body 92A, a sliding resistance during the movement of theaxial portion 91 does not occur. As a result, the movement of theaxial portion 91 is carried out smoothly (i.e. without a load) . Therefore, a press operation of theunlock button 90 by the worker is possible exactly in the same manner as a press operation of a conventional unlock button without a solenoid. In addition, when resetting theunlock button 90 from the state ofFIG. 20 to the state ofFIG. 19 , the worker grasps theunlock button 90 and pulls it (i.e. manually operate it) . In the alternative, regarding the resetting operation, by adopting a locking mechanism such as a push-lock and turn-reset mechanism, the locking state held at the time of push-operation of theunlock button 90 may be unlocked by turning theunlock button 90. - Also, in the non-operation state of the
unlock button unit 9 shown inFIG. 19 , when the wireless terminal transmits an operation signal, the operation signal is received by thereception part 32 of thesafety switch 8 and inputted into thecontrol circuit 33. Then, a current is supplied to thesolenoid 92 from thecontrol circuit 33. Thereby, as shown inFIG. 20 , theaxial portion 91 moves toward the inside of thecase 80 and thus theunlock portion 93 connected to the distal end of theaxial portion 91 also moves inwardly. Theinclined surface 93a of theunlock portion 93 presses against and gets over theinclined surface 87a of theunlock plate 87, such that thereby theoperation shaft 83 moves to the right inFIG. 20 . As a result, the contact of thecontact block 85 is turned off and the apparatus in the hazard area is stopped. Also, one end of theoperation shaft 83 is moved away from theengagement recess 82a of thecam 82 to form a gap between the end of theoperation shaft 83 and theengagement recess 82a. As with the press operation of theunlock button 90, from this state, when theactuator 95 is moved in the drawing-out direction, a part of thecam 82 that rotates in the clockwise direction comes into contact with thetapered surface 83a at the distal end of theoperation shaft 83 to further move theoperation shaft 83 longitudinally (i.e. to the right inFIG. 20 ), thereby further rotating thecam 82, such that thereby the movable door can be opened. - At this time, the
unlock button 90 is in the pressed state by traveling along with theaxial portion 91, such a state being exactly the same as a state of press-operation of theunlock button 90 by the worker. In addition, when resetting theunlock button 90 from the state ofFIG. 20 to the state ofFIG. 19 , after a current supply to thesolenoid 92 is stopped, similar to the press operation of theunlock button 90, the worker grasps theunlock button 90 and pulls it (i.e. manually operate it) . In the alternative, by adopting a locking mechanism such as a push-lock and turn-reset mechanism, the locking state held at the time of press-operation of theunlock button 90 may be unlocked by turning theunlock button 90. - According to this embodiment, by the worker's manual press-operation (or direct-operation) of the
unlock button 90, theunlock button 90 is directly operated. Also, by a current supply to thesolenoid 92, theunlock button 90 is alternatively operated through theaxial portion 91. Thereby, both the direct operation and the alternative operation of theunlock button 90 can be achieved thus improving operability and safety. - Also, the remote operation of the
wireless terminal 4 for theunlock button 90 is detected by thereception part 32 of thesafety switch 8 and theunlock button 90 is actuated based on the remote operation, that is, theunlock button 90 is pressed inwardly, such that thereby theunlock button 90 can be operated even at a place away from the unlock button 90 (e.g. outside the hazard area) . Accordingly, even in the situation that the worker P cannot press theunlock button 90 directly, he/she can operate the unlock button 90 (i.e. perform an operation support of the unlock button 90) thus further improving an operability and safety. Moreover, according to this embodiment, since thesolenoid 92 is disposed on the side opposite to a press side (or manually operation side) of theunlock button 90, that is, at a position other than thepress surface 21a, the worker P can perform an operation support of theunlock button 90 without damaging operability at the time of performing a manual operation of theunlock button 90. - Next, the
wireless terminal 4 according to a first embodiment of the present invention will be explained hereinafter with reference toFIGS. 21 to 26 . - The
wireless terminal 4 comprises a button (or operation part) 40 such as a push button operable by a finger or a hand of the worker P, abase 4A supporting thebutton 40, and a pair of belts (or attaching parts) wrapped around a wrist of the worker P. - Similar to a watch belt, one of the
belts 45 of thewireless terminal 4 has a plurality of small throughholes 45a formed thereinto and the other of thebelts 45 has a buckle (not shown) for inserting into theholes 45a. In the alternative, a hook-and-loop fastener or other engagement means may be used to detachably engage the bothbelts 45. - The
base 4A has aguard portion 4B that extends upwardly (or out of the page ofFIG. 22 ) from a top surface of thebase 4A and that is disposed around a part of an outer circumferential surface of thebutton 40. Theguard portion 4B is respectively disposed on the upper and lower sides of thebutton 40. Theguard portion 4B is an arcuate shaped member extending along and apart from the outer circumferential surface of thebutton 40. - A height position of a top surface 4Ba of each of the
guard portions 4B is disposed approximately the same as a height position of a centraluppermost surface 40a of the button 40 (seeFIGS. 23 to 26 ). Additionally, in the examples shown inFIGS. 23 to 26 , the height position of the top surface 4Ba of each of theguard portions 4B is disposed slightly below the height position of the centraluppermost surface 40a of thebutton 40. In such a manner, the reason why the height position of the top surface 4Ba of each of theguard portions 4B is disposed approximately the same as the height position of the centraluppermost surface 40a of thebutton 40 is that even when the worker P hits thewireless terminal 4 against a table or the like with thewireless terminal 4 attached around his/her wrist, theguard portions 4B can prevent thebutton 40 from being pressed inwardly by the table or the like, i.e. for a malfunction prevention purpose. - As shown in
FIGS. 25 and 26 , thewireless terminal 4 has aradio module 4C fitted thereinto. Theradio module 4C incorporates a control circuit including a CPU (Central Processing Unit), a transmission/reception part for transmitting/receiving an operation (or stop) signal in order to operate the emergencystop switch unit 2 by a press operation of thebutton 40, and a display for performing a variety of indications (Details are described hereinafter). - Also, the
wireless terminal 4 has a locking mechanism or latching mechanism fitted thereinto that includes aspring 4D (seeFIG. 25 ) and the like to lock thebutton 40 in the pressed state. Additionally, a reset of the pressed and lockedbutton 40 to the original position may be conducted by the worker's pull of thebutton 40. - When the worker P performs a press-operation of the
button 40 of thewireless terminal 4 during operation of the robot R, the transmission part of thewireless terminal 4 transmits an operation (or stop) signal. The operation signal is received by the reception part 32 (FIG. 4 ) of the emergency stop switch unit 2 (FIG. 1 ) of the robot R. Then, the solenoid 3 (FIG. 4 ) of the emergencystop switch unit 2 is actuated to cause theemergency stop button 21 of the emergencystop switch unit 2 to be pressed, such that thereby the contact is opened. In such a way, the robot R is emergently stopped. - According to this embodiment, the wireless terminal 4 (41 or 42) does not directly shutdown a power circuit or an electric circuit of the robot R, but emergently stops the robot R in an indirect manner through the emergency
stop switch unit 2 by acting on the emergencystop switch unit 2 provided at the robot R to operate the emergencystop switch unit 2. Generally, the emergency stop switch unit is externally fitted to the robot. According to this embodiment, by operating such an emergency stop switch unit, a system for wirelessly operating the robot can be easily structured. Accordingly, in a safety system (or operation system) with an emergency stop switch unit, an installation of the wireless terminal that can operate the emergency stop switch wirelessly can facilitate construction of the safety support system (or operation support system) that can support safety of the safety system. - Also, according to this embodiment, a button operation by the
wireless terminal 4 can achieve an effect similar to an effect in a direct operation of the emergencystop switch unit 2 by the worker P. Therefore, even in the case that the worker P is in a place remote from the emergencystop switch unit 2, he/she can emergently stop the robot R. - Moreover, according to this embodiment, communication of the
wireless terminal 4 with the emergencystop switch unit 2 is necessary only in the case of operating thewireless terminal 4 and thewireless terminal 4 does not need to communicate with the emergencystop switch unit 2 at all times. Also, bidirection of communication does not need to be secured. Thereby, power consumption can be reduced and cost can be decreased. - In addition, when the worker P press-operates the
button 40 of thewireless terminal 4, thebutton 40 may be locked in a pressed state by the locking mechanism/latching mechanism and thebutton 40 may be turned on to let the worker P know that thebutton 40 is pressed. - Then, in restoring the normal driving state from the emergency stop state, the worker P may pull the pressed
button 40 of thewireless terminal 4 to return it to the original position and also may pull theemergency stop button 21 of the emergencystop switch unit 2 to return it to the original position. - Also, when the worker P press-operates the
button 40 of thewireless terminal 4, the signal transmitted from the transmission part of thewireless terminal 4 is received by the reception part of anotherwireless terminal 4. Then, thebutton 40 of anotherwireless terminal 4 may be turned on and off. Thereby, a holder (s) of other wireless terminals (e.g. one or a plurality of other workers or a supervisor) is informed that any of the wireless terminals has been operated. - Next, the
wireless terminal 4 according to a second embodiment of the present invention will be explained hereinafter with reference toFIGS. 27 to 32 . In these drawings, like reference numbers indicate identical or functionally similar elements to those in the above-mentioned first embodiment. - This second embodiment differs from the first embodiment in that the
belt 45 of thewireless terminal 4 is detachable or removable.FIGS. 27 to 30 show a state that thebelt 45 is attached to thewireless terminal 4 andFIGS. 31 and 32 show a state that thebelt 45 is removed from thewireless terminal 4. - As shown in
FIGS. 31 and 32 , thewireless terminal 4 has aterminal body 4E, which comprises abutton 40 and abase 4A to hold thebutton 40. On both side surfaces of thebase 4A, a groove 4Aa is respectively formed along the side surfaces. On the other hand, thebelt 45 has acase portion 4F that theterminal body 4E is detachably engageable with and that can house theterminal body 4E. Thecase portion 4F comprises a bottom plate part 4Fa and a pair of side plate portions 4Fb that extend upwardly from both side portions of the bottom plate part 4Fa. Each of thebelts 45 extends laterally from each of the side plate portions 4Fb of thecase portion 4F. Inside surface of each of the side plate portions 4Fb, there is formed a protrusion part 4Fb1 that extends along the inside surface of the side plate portion 4Fb and that is engageable with each of the grooves 4Aa of thebase 4A. - When attaching the
terminal body 4E to thebelt 45, as shown inFIGS. 31 and 32 , by moving theterminal body 4E toward thecase portion 4F from a front/rear side of thecase portion 4F to insert thebase 4A of theterminal body 4E into thecase portion 4F and to slide thebase 4A along the side plate portions 4Fb of thecase portion 4F (see an arrow mark inFIG. 31 ), such that thereby theterminal body 4E is attached to thecase portion 4F. At this time, the protrusion parts 4Fb1 of the side plate portions 4Fb of thecase portion 4F are respectively engaged with the grooves 4Aa of thebase 4A of the terminal body 4 (seeFIGS. 27 to 30 ) . An attachment of theterminal body 4E to thecase portion 4F may be carried out when thebelts 45 are wrapped around a wrist of the worker P. Also, removal of theterminal body 4E from thecase portion 4F is possible by moving theterminal body 4E away from thecase portion 4F, that is, in a direction opposite the arrow-mark direction inFIG. 31 . - In this case, since the
terminal body 4E of thewireless terminal 4 is detachable relative to thecase portion 4F of thebelt 45, by adjusting exterior shapes of terminal bodies of wireless terminals of various kinds and specifications to an exterior shape of theterminal body 4E of thewireless terminal 4, communization of thebelt 45 becomes possible. Also, due to an easy removal of theterminal body 4E of thewireless terminal 4, as carrying/wearing of thewireless terminal 4 is not limited to a specified worker, the degree of freedom of thewireless terminal 4 in carrying/wearing it is increased. Moreover, theterminal body 4E detached from thecase portion 4F can be temporally fitted to a table, a guard fence or the like that is located at a position near the worker P, thus improving flexibility in working. In this case, when thebase 4A of theterminal body 4E has a magnet fitted thereto, theterminal body 4E detached from thecase portion 4F is easy to be attached and detached relative to a working space, thereby further improving flexibility in working. For example, in addition to the case that workers take turns or a lot of workers are working, in the case that a worker having lost an arm cannot attach a belt and perform a button operation or the like, as the worker can remove theterminal body 4E from thebelt 45 and use theterminal body 4E, convenience of thewireless terminal 4 can be improved. Additionally, in the case that a magnet is fitted to thebase 4A of theterminal body 4E, an attachment of theterminal body 4E to thecase portion 4F may be carried out by using an magnetic force of the magnet. - An action of the system when the worker performs a press operation of the
button 40 of theterminal body 4E of thewireless terminal 4 during operation of the robot is similar to that of the above-mentioned first embodiment. That is, thewireless terminal 4 transmits an operation (or stop) signal, which is received by the emergencystop switch unit 2 beside the robot, such that thereby theemergency stop button 21 of the emergencystop switch unit 2 is pressed inwardly to open the contacts thus stopping the robot emergently. - In the above-mentioned first and second embodiments, as the
wireless terminal 4, a wrist-watch type (or wrist-band type) was taken as an example that the worker P can attach it around his/her wrist. However, regarding an attaching part of a body of the worker P, it is not limited to the wrist, but a finger (i.e. ring type) or a palm of a hand may be used. Also, a wireless terminal with a built-in acceleration sensor may be used so as to be operated by a flick of a wrist. Moreover, thewireless terminal 4 is not limited to such a portable type (or wearable type). An attachment portion for attaching thewireless terminal 4 to a body of the worker P such as abelt 45 or the like may be omitted (see thewireless terminal body 4E of the above-mentioned second embodiment). In such a case, thewireless terminal 4 may be putted into a pocket of working clothes or fitted to a top portion of a traffic/road cone that is placed at a construction site or the like. Alternatively, thewireless terminal 4 may be a pendant-type operation terminal. - In the example shown in
FIG. 6 , thewireless terminal 4 was composed of twowireless terminals wireless terminal 4 may be composed of three or more terminals, and alternatively, it may be composed of a single terminal. Also, the wireless terminal maybe cooperated with a personal computer, tablet, smartphone or the like. Thereby, various settings and indications become easy. - In the above-mentioned first and second embodiments, RFID (Radio Frequency Identifier) tag may be attached to the wireless terminal 4 (41, 42). In this case, when the worker P enters an entry-restriction area, it is possible to make settings that an alarm rings.
- In the above-mentioned first and second embodiments, biometrics authentication function (e.g. electrocardiogram measurement function or vein pattern reading function, etc.) may be added to the wireless terminal 4 (41, 42). In this case, it is possible to make settings that the wireless terminal 4 (41, 42) cannot be operated by any person other than worker himself/herself.
- In the above-mentioned first and second embodiments, as a preferred example of the
wireless terminal 4, thebutton 40 was shown that is pressed inwardly in a direction perpendicular to thebelt 45, but an application of the present invention is not limited to such an example. Regarding thebutton 40, various kinds of variants can be adopted. - In the above-mentioned embodiments and alternative embodiments, the
wireless terminal 4 as the remote operation portion and thereception part 32 as the detection part were taken as examples, but an application of the present inventio is not limited to such examples . The remote operation portion and the detector part may include the following combinations: a combination of optical signal and a photoelectric sensor; a combination of audio signal and a microphone; a combination of video signal and a camera; a combination of an operation instrument such as a lever that operates a linear/rod-like long member such as a wire and a movable member that follows the movement of the distal end of the long member; a combination of a nozzle spouting compressed air and a receiving member that receives compressed air from the nozzle; and a combination of a gun that fires bullets such as BB bullets and a target member that is hit by the bullet fired by the gun, etc. - The above-mentioned embodiments and alternative embodiments should be considered in all respects only as illustrative and not restrictive. Those skilled in the art to which the invention pertains may make modifications and other embodiments employing the principles of this invention without departing from its spirit or essential characteristics particularly upon considering the foregoing teachings.
- In the above-mentioned embodiments and alternative embodiments, the collaborative robot was taken as an example as an apparatus that the operation switch unit of the present invention is applied to, but the present invention also has application to industrial robots other than collaborative robots. It is also applicable to not only a single robot but also a plurality of robots. Moreover, the application of the present invention is not limited to a vertically articulated robot but is applicable to other robots such as a SCARA robot and a parallel link robot and also to an AGV (Automated Guided Vehicle). Furthermore, the application of the present invention is not limited to the field of FA (Factory Automation) (i.e. manufacturing industry), but it may be the field of industrial vehicles and construction vehicles including special vehicles such as a power shovel and the like (i.e. construction/civil work industry), restaurant business, food industry, medicine, and distribution industry.
- The present invention is of use to an operation switch unit that can improve operability and safety as the operation switch.
-
- 1: operation system
- 2: emergency stop switch unit (operation switch unit)
- 20A: direct operation part
- 20B: alternative operation part
- 21: emergency stop button (emergency stop switch/operation switch)
- 21a: pressure surface (direct operation surface)
- 22: axial portion (operation axis)
- 23: movable contact (first contact)
- 24: fixed contact (fourth contact)
- 25: coil spring (opening biasing means)]
- 3: electromagnetic solenoid (actuating portion)
- 32: reception part (detection part)
- 4, 41, 42: wireless terminal (remote operation terminal)
- 40, 401, 402: button (operation part)
- 411, 412: transmission part
- R: robot (apparatus)
- P: worker (operator)
Claims (20)
- An operation switch unit comprising:a direct operation part that has a manually operable operation switch and that is adapted to directly operate said operation switch; andan alternative operation part that is adapted to be linked with said direct operation part and that alternatively operates said operation switch in place of said direct operation part.
- The operation switch unit according to claim 1, wherein said operation switch is an emergency stop switch and in the state of linkage with said direct operation part said alternative operation part does not impair any requirement that is required for said emergency stop switch.
- The operation switch unit according to claim 1, wherein said alternative operation part includes a detection part that detects a remote operation of said operation switch and an actuating portion that actuates said operation switch on the basis of said remote operation detected by said detection part.
- The operation switch unit according to claim 3, wherein said actuating portion is provided at a position that is not a manual operation surface of said operation switch.
- The operation switch unit according to claim 3, wherein a reset of said operation switch after actuation by said actuating portion is performed by an operator's manually operation of said operation switch.
- The operation switch unit according to claim 1, wherein said operation switch is a switch adapted to open a first contact and a second contact that are in the state of contact, said operation switch further comprising an opening biasing means to bias said first contact and said second contact to an opening direction.
- The operation switch unit according to claim 6, wherein said opening biasing means maintains an opening state of said first contact and said second contact by biasing said first contact and said second contact to said opening direction even in the case that abnormality such that said first contact and said second contact return to the state of contact has occurred.
- The operation switch unit according to claim 6, wherein a biasing force of said opening biasing means is applied to an actuating portion to actuate said operation switch in an operative direction.
- The operation switch unit according to claim 6, wherein a biasing force of said opening biasing means is applied to said operation switch in an operative direction.
- The operation switch unit according to claim 6, wherein a biasing force of said opening biasing means after operation of said operation switch is smaller than a biasing force of said opening biasing means before operation of said operation switch.
- The operation switch unit according to claim 6 further comprising an operation axis to move in conjunction with operation of said operation switch, wherein said opening biasing means is formed of a spring that has one end connected to the side of said operation axis and adapted to move along with said operation axis and that has the other end connected to the side of a housing of said operation switch unit.
- The operation switch unit according to claim 1, wherein said operation switch is an emergency stop switch.
- A remote operation terminal for remote operation of a manually operable operation switch comprising:an operation element operated by an operator; anda remote operation means for operating said operation switch remotely by said operator's operation of said operation element.
- The remote operation terminal according to claim 13, wherein said operation switch is an emergency stop switch and said operation element is a button.
- The remote operation terminal according to claim 13, wherein said operation element includes a locking mechanism to be locked in the state of operation.
- The remote operation terminal according to claim 13, wherein said remote operation means is a transmission part to transmit an operation signal for operating said operation switch wirelessly.
- An operation system comprising:a manually operable operation switch;a remote operation means for operating said operation switch remotely;a detection part that detects said remote operation by said remote operation means; andan actuating portion that actuates said operation switch on the basis of said remote operation detected by said detection part.
- The operation system according to claim 17 further comprising an opening biasing means to bias a contact of said operation switch to an opening direction.
- The operation system according to claim 17, wherein said remote operation means is a transmission part to transmit an operation signal for operating said operation switch wirelessly and said detection part is a reception part to receive said operation signal from said transmission part.
- The operation system according to claim 17, wherein a reset of said operation switch after actuation by said actuating portion is performed by an operator's manually operation of said operation switch.
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017228191A JP2019102838A (en) | 2017-11-28 | 2017-11-28 | Radio terminal and control system |
JP2018145471A JP7054590B2 (en) | 2018-08-01 | 2018-08-01 | Stop switch unit with operation support function and operation support system |
JP2018161821A JP7054591B2 (en) | 2018-08-30 | 2018-08-30 | Stop switch unit |
JP2018185271A JP7054592B2 (en) | 2018-09-28 | 2018-09-28 | Stop switch unit with operation support function |
PCT/JP2018/043651 WO2019107376A1 (en) | 2017-11-28 | 2018-11-27 | Operation switch unit, remote operation terminal, and operation system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3720142A1 true EP3720142A1 (en) | 2020-10-07 |
EP3720142A4 EP3720142A4 (en) | 2021-08-11 |
Family
ID=66664917
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18882988.1A Pending EP3720142A4 (en) | 2017-11-28 | 2018-11-27 | Operation switch unit, remote operation terminal, and operation system |
Country Status (4)
Country | Link |
---|---|
US (1) | US11657985B2 (en) |
EP (1) | EP3720142A4 (en) |
CN (1) | CN111373763B (en) |
WO (1) | WO2019107376A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7286344B2 (en) * | 2019-02-27 | 2023-06-05 | Idec株式会社 | Operation switch unit with operation support function, operation unit with operation support function and operation support system |
JP7490301B2 (en) | 2020-02-05 | 2024-05-27 | Idec株式会社 | Operation support system and operation switch unit with operation support function |
CN114974962B (en) * | 2022-06-07 | 2023-07-25 | 平高集团有限公司 | Switch cabinet operating device and operating robot |
Family Cites Families (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA1055143A (en) * | 1976-06-29 | 1979-05-22 | Dominik Filipovic | Remote control/digital tuning interface |
US4520334A (en) * | 1983-10-28 | 1985-05-28 | Eaton Corporation | Pushbutton switch with remotely controlled operating attachment |
JP3668367B2 (en) | 1997-09-30 | 2005-07-06 | 和泉電気株式会社 | Normally closed contact type pushbutton switch |
JP4181640B2 (en) | 1997-04-28 | 2008-11-19 | Idec株式会社 | Pushbutton switch, operation device using the same, and teaching pendant |
JP2001023472A (en) * | 1999-07-07 | 2001-01-26 | Matsushita Electric Ind Co Ltd | Switch and electronic apparatus using it |
JP2001218280A (en) | 2000-02-02 | 2001-08-10 | Sony Corp | Power supply unit for electronic equipment |
JP2006345470A (en) | 2005-06-09 | 2006-12-21 | Let's Corporation | Electronic apparatus control device |
WO2006137239A1 (en) | 2005-06-20 | 2006-12-28 | Kabushiki Kaisha Yaskawa Denki | Automatic machine system and its communication control method |
JP3909082B1 (en) | 2006-12-04 | 2007-04-25 | Idec株式会社 | Push button switch |
JP4872106B2 (en) | 2008-06-26 | 2012-02-08 | Necシステムテクノロジー株式会社 | Control device and control method for equipment having push switch |
CN101321211A (en) * | 2008-07-09 | 2008-12-10 | 傲视恒安科技(北京)有限公司 | Apparatus for long-range control of equipment power supply switch through communication network |
JP2010096433A (en) | 2008-10-16 | 2010-04-30 | Hitachi Plant Technologies Ltd | Remote control device and remote control system |
JP5340892B2 (en) * | 2009-11-20 | 2013-11-13 | Idec株式会社 | Operation switch |
FR2964241B1 (en) * | 2010-08-25 | 2012-08-17 | Schneider Electric Ind Sas | DEVICE FOR DETECTING AND REPORTING THE CHANGE OF STATUS OF A PUSH BUTTON |
FR3000286B1 (en) | 2012-12-20 | 2015-08-21 | Schneider Electric Ind Sas | CONTROL SYSTEM INCLUDING A FIXED EMERGENCY STOP BUTTON AND A MOBILE EMERGENCY STOP BUTTON |
GB201301437D0 (en) * | 2013-01-25 | 2013-03-13 | Khattak Yasser | A unit for supplying remote control to an electrical switch |
JP2014229475A (en) * | 2013-05-22 | 2014-12-08 | オムロン株式会社 | Switch, and method of controlling the same |
JP2015130235A (en) | 2014-01-06 | 2015-07-16 | 金田 文郎 | Post-attached electrically-driven switch for housing |
JP6290008B2 (en) | 2014-06-05 | 2018-03-07 | 三菱電機ビルテクノサービス株式会社 | Installed expansion device for switch |
JP2015231211A (en) | 2014-06-06 | 2015-12-21 | 株式会社デジタル | Operation system and emergency stop switch |
US10661989B2 (en) | 2015-05-11 | 2020-05-26 | Murata Machinery, Ltd. | Automated equipment system, emergency stop terminal, and operation terminal control method |
JP6602587B2 (en) | 2015-07-30 | 2019-11-06 | 株式会社ダイヘン | Robot control system and wireless access point device |
JP6447464B2 (en) * | 2015-11-06 | 2019-01-09 | オムロン株式会社 | switch |
JP6432487B2 (en) * | 2015-11-06 | 2018-12-05 | オムロン株式会社 | switch |
CN106803335B (en) * | 2017-03-06 | 2020-05-26 | 东华大学 | Wireless control device for traditional switch |
TWI676200B (en) * | 2018-07-03 | 2019-11-01 | 易湘雲 | Switch with thermal breaker and power socket comprising such switch |
-
2018
- 2018-11-27 CN CN201880061095.4A patent/CN111373763B/en active Active
- 2018-11-27 US US16/766,046 patent/US11657985B2/en active Active
- 2018-11-27 EP EP18882988.1A patent/EP3720142A4/en active Pending
- 2018-11-27 WO PCT/JP2018/043651 patent/WO2019107376A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
WO2019107376A1 (en) | 2019-06-06 |
CN111373763B (en) | 2022-07-12 |
EP3720142A4 (en) | 2021-08-11 |
US20200365342A1 (en) | 2020-11-19 |
US11657985B2 (en) | 2023-05-23 |
CN111373763A (en) | 2020-07-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11657985B2 (en) | Operation switch unit, remote operation terminal and operation system | |
US8127482B2 (en) | Safety system for firearms | |
WO2007079332A3 (en) | Systems and methods for providing universal security for items | |
JP7385065B2 (en) | Emergency stop switch with operation support function and operation support system | |
US20140218168A1 (en) | Multi-control entry door hardware | |
US12031354B1 (en) | Power-activated cam lock | |
US11942288B2 (en) | Operation switch unit with operation support function, operation unit with operation support function, and operation support system | |
JP2017001852A (en) | Operator-limiting operation device at elevator landing | |
JP2022066556A (en) | Wireless terminal for emergency stop switch and emergency stop support system | |
JP7054591B2 (en) | Stop switch unit | |
US7898387B2 (en) | Portable remote transmitter to remotely control a vehicle function | |
JP2009301271A (en) | Safety control method and safety control system | |
JP7054592B2 (en) | Stop switch unit with operation support function | |
JP7054590B2 (en) | Stop switch unit with operation support function and operation support system | |
JP7257567B2 (en) | Operation switch unit with operation support function and operation support system | |
JP2019102838A (en) | Radio terminal and control system | |
JP7204301B2 (en) | Remote control system and remote control method | |
AU2018314391B2 (en) | Remote control arrangement | |
RU130730U1 (en) | STATIONARY CONTROL DEVICE OF THE SYSTEM OF ELECTRONIC MONITORING OF UNDER CONTROLLERS | |
KR20100006099U (en) | The remote monitoring portable device for position and driving information of mobile robot | |
AU2018314391A1 (en) | Remote control arrangement | |
IE85898B1 (en) | A safety system for firearms |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20200601 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R079 Free format text: PREVIOUS MAIN CLASS: H04Q0009000000 Ipc: G08C0017020000 |
|
A4 | Supplementary search report drawn up and despatched |
Effective date: 20210709 |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: G08C 17/02 20060101AFI20210705BHEP Ipc: H01H 3/28 20060101ALI20210705BHEP Ipc: H01H 13/20 20060101ALI20210705BHEP Ipc: H04B 1/3827 20150101ALI20210705BHEP |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20231201 |